25.182 * [progress]: [Phase 1 of 3] Setting up. 0.003 * * * [progress]: [1/2] Preparing points 0.831 * * * [progress]: [2/2] Setting up program. 0.888 * [progress]: [Phase 2 of 3] Improving. 0.888 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 0.888 * [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))))))))) 0.888 * * [simplify]: iteration 1: (22 enodes) 0.896 * * [simplify]: iteration 2: (36 enodes) 0.911 * * [simplify]: iteration 3: (59 enodes) 0.928 * * [simplify]: iteration 4: (64 enodes) 0.944 * * [simplify]: Extracting #0: cost 1 inf + 0 0.944 * * [simplify]: Extracting #1: cost 3 inf + 0 0.944 * * [simplify]: Extracting #2: cost 4 inf + 1 0.944 * * [simplify]: Extracting #3: cost 17 inf + 1 0.944 * * [simplify]: Extracting #4: cost 21 inf + 1 0.944 * * [simplify]: Extracting #5: cost 17 inf + 126 0.945 * * [simplify]: Extracting #6: cost 14 inf + 896 0.945 * * [simplify]: Extracting #7: cost 12 inf + 1382 0.946 * * [simplify]: Extracting #8: cost 7 inf + 2950 0.947 * * [simplify]: Extracting #9: cost 6 inf + 3553 0.949 * * [simplify]: Extracting #10: cost 1 inf + 7198 0.952 * * [simplify]: Extracting #11: cost 0 inf + 8187 0.954 * * [simplify]: Extracting #12: cost 0 inf + 8172 0.956 * [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) 0.984 * * [progress]: iteration 1 / 4 0.984 * * * [progress]: picking best candidate 1.012 * * * * [pick]: Picked # 1.012 * * * [progress]: localizing error 1.090 * * * [progress]: generating rewritten candidates 1.090 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 1.098 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2) 1.111 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 2 2 1) 1.112 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 1) 1.156 * * * [progress]: generating series expansions 1.157 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 1.157 * [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))))) 1.157 * [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 1.157 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 1.157 * [taylor]: Taking taylor expansion of (cos delta) in theta 1.157 * [taylor]: Taking taylor expansion of delta in theta 1.157 * [backup-simplify]: Simplify delta into delta 1.157 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.157 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.157 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 1.157 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.157 * [taylor]: Taking taylor expansion of phi1 in theta 1.157 * [backup-simplify]: Simplify phi1 into phi1 1.157 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.158 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.158 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 1.158 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.158 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 1.158 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.158 * [taylor]: Taking taylor expansion of theta in theta 1.158 * [backup-simplify]: Simplify 0 into 0 1.158 * [backup-simplify]: Simplify 1 into 1 1.158 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 1.159 * [taylor]: Taking taylor expansion of (cos phi1) in theta 1.159 * [taylor]: Taking taylor expansion of phi1 in theta 1.159 * [backup-simplify]: Simplify phi1 into phi1 1.159 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.159 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.159 * [taylor]: Taking taylor expansion of (sin delta) in theta 1.159 * [taylor]: Taking taylor expansion of delta in theta 1.159 * [backup-simplify]: Simplify delta into delta 1.159 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.159 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.159 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 1.159 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.159 * [taylor]: Taking taylor expansion of phi1 in theta 1.159 * [backup-simplify]: Simplify phi1 into phi1 1.159 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.159 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.159 * [taylor]: Taking taylor expansion of (cos delta) in theta 1.160 * [taylor]: Taking taylor expansion of delta in theta 1.160 * [backup-simplify]: Simplify delta into delta 1.160 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.160 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.160 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 1.160 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.160 * [taylor]: Taking taylor expansion of delta in phi1 1.160 * [backup-simplify]: Simplify delta into delta 1.160 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.160 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.160 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 1.160 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.160 * [taylor]: Taking taylor expansion of phi1 in phi1 1.160 * [backup-simplify]: Simplify 0 into 0 1.160 * [backup-simplify]: Simplify 1 into 1 1.160 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 1.160 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.160 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 1.160 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.160 * [taylor]: Taking taylor expansion of theta in phi1 1.160 * [backup-simplify]: Simplify theta into theta 1.160 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.160 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.160 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 1.160 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.160 * [taylor]: Taking taylor expansion of phi1 in phi1 1.160 * [backup-simplify]: Simplify 0 into 0 1.160 * [backup-simplify]: Simplify 1 into 1 1.160 * [taylor]: Taking taylor expansion of (sin delta) in phi1 1.160 * [taylor]: Taking taylor expansion of delta in phi1 1.160 * [backup-simplify]: Simplify delta into delta 1.160 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.160 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.161 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 1.161 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.161 * [taylor]: Taking taylor expansion of phi1 in phi1 1.161 * [backup-simplify]: Simplify 0 into 0 1.161 * [backup-simplify]: Simplify 1 into 1 1.161 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.161 * [taylor]: Taking taylor expansion of delta in phi1 1.161 * [backup-simplify]: Simplify delta into delta 1.161 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.161 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.161 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 1.161 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.161 * [taylor]: Taking taylor expansion of delta in delta 1.161 * [backup-simplify]: Simplify 0 into 0 1.161 * [backup-simplify]: Simplify 1 into 1 1.161 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 1.161 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.161 * [taylor]: Taking taylor expansion of phi1 in delta 1.161 * [backup-simplify]: Simplify phi1 into phi1 1.161 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.161 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.161 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 1.161 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.161 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 1.161 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.161 * [taylor]: Taking taylor expansion of theta in delta 1.161 * [backup-simplify]: Simplify theta into theta 1.161 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.161 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.161 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 1.161 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.161 * [taylor]: Taking taylor expansion of phi1 in delta 1.161 * [backup-simplify]: Simplify phi1 into phi1 1.161 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.162 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.162 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.162 * [taylor]: Taking taylor expansion of delta in delta 1.162 * [backup-simplify]: Simplify 0 into 0 1.162 * [backup-simplify]: Simplify 1 into 1 1.162 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 1.162 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.162 * [taylor]: Taking taylor expansion of phi1 in delta 1.162 * [backup-simplify]: Simplify phi1 into phi1 1.162 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.162 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.162 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.162 * [taylor]: Taking taylor expansion of delta in delta 1.162 * [backup-simplify]: Simplify 0 into 0 1.162 * [backup-simplify]: Simplify 1 into 1 1.162 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 1.162 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.162 * [taylor]: Taking taylor expansion of delta in delta 1.162 * [backup-simplify]: Simplify 0 into 0 1.162 * [backup-simplify]: Simplify 1 into 1 1.162 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 1.162 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.162 * [taylor]: Taking taylor expansion of phi1 in delta 1.162 * [backup-simplify]: Simplify phi1 into phi1 1.162 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.162 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.162 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 1.162 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.162 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 1.162 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.162 * [taylor]: Taking taylor expansion of theta in delta 1.162 * [backup-simplify]: Simplify theta into theta 1.162 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.162 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.163 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 1.163 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.163 * [taylor]: Taking taylor expansion of phi1 in delta 1.163 * [backup-simplify]: Simplify phi1 into phi1 1.163 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.163 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.163 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.163 * [taylor]: Taking taylor expansion of delta in delta 1.163 * [backup-simplify]: Simplify 0 into 0 1.163 * [backup-simplify]: Simplify 1 into 1 1.163 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 1.163 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.163 * [taylor]: Taking taylor expansion of phi1 in delta 1.163 * [backup-simplify]: Simplify phi1 into phi1 1.163 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.163 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.163 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.163 * [taylor]: Taking taylor expansion of delta in delta 1.163 * [backup-simplify]: Simplify 0 into 0 1.163 * [backup-simplify]: Simplify 1 into 1 1.163 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 1.163 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.163 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 1.163 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.163 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.164 * [backup-simplify]: Simplify (- 0) into 0 1.164 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.164 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 1.165 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 1.165 * [backup-simplify]: Simplify (- 0) into 0 1.165 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 1.165 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.165 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 1.165 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 1.165 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.165 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 1.165 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 1.166 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 1.166 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 1.166 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 1.166 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 1.166 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 1.166 * [taylor]: Taking taylor expansion of 1 in phi1 1.166 * [backup-simplify]: Simplify 1 into 1 1.166 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 1.166 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.166 * [taylor]: Taking taylor expansion of phi1 in phi1 1.166 * [backup-simplify]: Simplify 0 into 0 1.166 * [backup-simplify]: Simplify 1 into 1 1.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.167 * [backup-simplify]: Simplify (+ 1 0) into 1 1.167 * [taylor]: Taking taylor expansion of 1 in theta 1.168 * [backup-simplify]: Simplify 1 into 1 1.168 * [backup-simplify]: Simplify 1 into 1 1.168 * [backup-simplify]: Simplify (+ 0) into 0 1.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.169 * [backup-simplify]: Simplify (+ 0) into 0 1.170 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 1.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.171 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 1.172 * [backup-simplify]: Simplify (- 0) into 0 1.172 * [backup-simplify]: Simplify (+ 0 0) into 0 1.173 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 1.173 * [backup-simplify]: Simplify (+ 0) into 0 1.174 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.175 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 1.175 * [backup-simplify]: Simplify (- 0) into 0 1.176 * [backup-simplify]: Simplify (+ 0 0) into 0 1.176 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 1.177 * [backup-simplify]: Simplify (+ 0) into 0 1.177 * [backup-simplify]: Simplify (+ 0) into 0 1.177 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 1.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.179 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 1.179 * [backup-simplify]: Simplify (+ 0 0) into 0 1.180 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 1.180 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 1.180 * [backup-simplify]: Simplify (+ 0) into 0 1.181 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 1.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.182 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 1.183 * [backup-simplify]: Simplify (+ 0 0) into 0 1.183 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 1.183 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 1.183 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 1.183 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 1.183 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 1.183 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.183 * [taylor]: Taking taylor expansion of phi1 in phi1 1.183 * [backup-simplify]: Simplify 0 into 0 1.183 * [backup-simplify]: Simplify 1 into 1 1.183 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 1.184 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.184 * [taylor]: Taking taylor expansion of theta in phi1 1.184 * [backup-simplify]: Simplify theta into theta 1.184 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.184 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.184 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.184 * [taylor]: Taking taylor expansion of phi1 in phi1 1.184 * [backup-simplify]: Simplify 0 into 0 1.184 * [backup-simplify]: Simplify 1 into 1 1.184 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.184 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.184 * [backup-simplify]: Simplify (- 0) into 0 1.185 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.185 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.185 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 1.185 * [backup-simplify]: Simplify (- 0) into 0 1.186 * [taylor]: Taking taylor expansion of 0 in theta 1.186 * [backup-simplify]: Simplify 0 into 0 1.186 * [backup-simplify]: Simplify 0 into 0 1.186 * [backup-simplify]: Simplify (+ 0 0) into 0 1.186 * [taylor]: Taking taylor expansion of 0 in theta 1.186 * [backup-simplify]: Simplify 0 into 0 1.186 * [backup-simplify]: Simplify 0 into 0 1.186 * [backup-simplify]: Simplify 0 into 0 1.187 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 1.188 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.190 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 1.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.191 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 1.192 * [backup-simplify]: Simplify (- 0) into 0 1.192 * [backup-simplify]: Simplify (+ 0 0) into 0 1.193 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 1.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.194 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 1.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.196 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 1.196 * [backup-simplify]: Simplify (- 0) into 0 1.196 * [backup-simplify]: Simplify (+ 0 0) into 0 1.197 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 1.198 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 1.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.199 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 1.200 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.201 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 1.201 * [backup-simplify]: Simplify (+ 0 0) into 0 1.202 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 1.202 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 1.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.203 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 1.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.205 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 1.205 * [backup-simplify]: Simplify (+ 0 0) into 0 1.205 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 1.206 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 1.206 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 1.206 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 1.206 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 1.206 * [taylor]: Taking taylor expansion of 1/2 in phi1 1.206 * [backup-simplify]: Simplify 1/2 into 1/2 1.206 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 1.206 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.206 * [taylor]: Taking taylor expansion of phi1 in phi1 1.206 * [backup-simplify]: Simplify 0 into 0 1.206 * [backup-simplify]: Simplify 1 into 1 1.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.207 * [taylor]: Taking taylor expansion of 1/2 in phi1 1.207 * [backup-simplify]: Simplify 1/2 into 1/2 1.207 * [backup-simplify]: Simplify (- 1/2) into -1/2 1.208 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 1.208 * [taylor]: Taking taylor expansion of -1/2 in theta 1.208 * [backup-simplify]: Simplify -1/2 into -1/2 1.208 * [backup-simplify]: Simplify -1/2 into -1/2 1.208 * [backup-simplify]: Simplify (+ 0) into 0 1.208 * [backup-simplify]: Simplify (+ 0) into 0 1.209 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.210 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 1.211 * [backup-simplify]: Simplify (- 0) into 0 1.211 * [backup-simplify]: Simplify (+ 0 0) into 0 1.211 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.212 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.212 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 1.213 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 1.213 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 1.213 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.213 * [taylor]: Taking taylor expansion of theta in theta 1.213 * [backup-simplify]: Simplify 0 into 0 1.213 * [backup-simplify]: Simplify 1 into 1 1.213 * [backup-simplify]: Simplify (- 1) into -1 1.213 * [backup-simplify]: Simplify -1 into -1 1.213 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 1.214 * [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)))) 1.214 * [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 1.214 * [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 1.214 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.214 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.214 * [taylor]: Taking taylor expansion of delta in theta 1.214 * [backup-simplify]: Simplify delta into delta 1.214 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.214 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.214 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.214 * [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 1.214 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 1.214 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.214 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 1.215 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.215 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.215 * [taylor]: Taking taylor expansion of theta in theta 1.215 * [backup-simplify]: Simplify 0 into 0 1.215 * [backup-simplify]: Simplify 1 into 1 1.215 * [backup-simplify]: Simplify (/ 1 1) into 1 1.215 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.215 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 1.215 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.215 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.215 * [taylor]: Taking taylor expansion of delta in theta 1.215 * [backup-simplify]: Simplify delta into delta 1.215 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.215 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.215 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.215 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.215 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.215 * [taylor]: Taking taylor expansion of phi1 in theta 1.216 * [backup-simplify]: Simplify phi1 into phi1 1.216 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.216 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.216 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.216 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 1.216 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.216 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.216 * [taylor]: Taking taylor expansion of phi1 in theta 1.216 * [backup-simplify]: Simplify phi1 into phi1 1.216 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.216 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.216 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.216 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.216 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.216 * [taylor]: Taking taylor expansion of delta in theta 1.216 * [backup-simplify]: Simplify delta into delta 1.216 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.216 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.216 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.216 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.216 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.216 * [taylor]: Taking taylor expansion of phi1 in theta 1.216 * [backup-simplify]: Simplify phi1 into phi1 1.216 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.217 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.217 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.217 * [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 1.217 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.217 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.217 * [taylor]: Taking taylor expansion of delta in phi1 1.217 * [backup-simplify]: Simplify delta into delta 1.217 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.217 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.217 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.217 * [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 1.217 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 1.217 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.217 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 1.217 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.217 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.217 * [taylor]: Taking taylor expansion of theta in phi1 1.217 * [backup-simplify]: Simplify theta into theta 1.217 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.217 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.217 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.217 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 1.218 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.218 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.218 * [taylor]: Taking taylor expansion of delta in phi1 1.218 * [backup-simplify]: Simplify delta into delta 1.218 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.218 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.218 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.218 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.218 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.218 * [taylor]: Taking taylor expansion of phi1 in phi1 1.218 * [backup-simplify]: Simplify 0 into 0 1.218 * [backup-simplify]: Simplify 1 into 1 1.219 * [backup-simplify]: Simplify (/ 1 1) into 1 1.219 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.219 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 1.219 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.219 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.219 * [taylor]: Taking taylor expansion of phi1 in phi1 1.219 * [backup-simplify]: Simplify 0 into 0 1.219 * [backup-simplify]: Simplify 1 into 1 1.219 * [backup-simplify]: Simplify (/ 1 1) into 1 1.220 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.220 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.220 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.220 * [taylor]: Taking taylor expansion of delta in phi1 1.220 * [backup-simplify]: Simplify delta into delta 1.220 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.220 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.220 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.220 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.220 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.220 * [taylor]: Taking taylor expansion of phi1 in phi1 1.220 * [backup-simplify]: Simplify 0 into 0 1.220 * [backup-simplify]: Simplify 1 into 1 1.220 * [backup-simplify]: Simplify (/ 1 1) into 1 1.220 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.220 * [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 1.221 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.221 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.221 * [taylor]: Taking taylor expansion of delta in delta 1.221 * [backup-simplify]: Simplify 0 into 0 1.221 * [backup-simplify]: Simplify 1 into 1 1.221 * [backup-simplify]: Simplify (/ 1 1) into 1 1.221 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.221 * [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 1.221 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 1.221 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.221 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 1.221 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.221 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.221 * [taylor]: Taking taylor expansion of theta in delta 1.221 * [backup-simplify]: Simplify theta into theta 1.221 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.222 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.222 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.222 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 1.222 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.222 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.222 * [taylor]: Taking taylor expansion of delta in delta 1.222 * [backup-simplify]: Simplify 0 into 0 1.222 * [backup-simplify]: Simplify 1 into 1 1.222 * [backup-simplify]: Simplify (/ 1 1) into 1 1.222 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.222 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.222 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.222 * [taylor]: Taking taylor expansion of phi1 in delta 1.222 * [backup-simplify]: Simplify phi1 into phi1 1.222 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.222 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.223 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.223 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 1.223 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.223 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.223 * [taylor]: Taking taylor expansion of phi1 in delta 1.223 * [backup-simplify]: Simplify phi1 into phi1 1.223 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.223 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.223 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.223 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.223 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.223 * [taylor]: Taking taylor expansion of delta in delta 1.223 * [backup-simplify]: Simplify 0 into 0 1.223 * [backup-simplify]: Simplify 1 into 1 1.223 * [backup-simplify]: Simplify (/ 1 1) into 1 1.224 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.224 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.224 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.224 * [taylor]: Taking taylor expansion of phi1 in delta 1.224 * [backup-simplify]: Simplify phi1 into phi1 1.224 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.224 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.224 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.224 * [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 1.224 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.224 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.224 * [taylor]: Taking taylor expansion of delta in delta 1.224 * [backup-simplify]: Simplify 0 into 0 1.224 * [backup-simplify]: Simplify 1 into 1 1.224 * [backup-simplify]: Simplify (/ 1 1) into 1 1.224 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.225 * [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 1.225 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 1.225 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.225 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 1.225 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.225 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.225 * [taylor]: Taking taylor expansion of theta in delta 1.225 * [backup-simplify]: Simplify theta into theta 1.225 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.225 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.225 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.225 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 1.225 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.225 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.225 * [taylor]: Taking taylor expansion of delta in delta 1.225 * [backup-simplify]: Simplify 0 into 0 1.225 * [backup-simplify]: Simplify 1 into 1 1.225 * [backup-simplify]: Simplify (/ 1 1) into 1 1.226 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.226 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.226 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.226 * [taylor]: Taking taylor expansion of phi1 in delta 1.226 * [backup-simplify]: Simplify phi1 into phi1 1.226 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.226 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.226 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.226 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 1.226 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.226 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.226 * [taylor]: Taking taylor expansion of phi1 in delta 1.226 * [backup-simplify]: Simplify phi1 into phi1 1.226 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.226 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.226 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.226 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.226 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.226 * [taylor]: Taking taylor expansion of delta in delta 1.226 * [backup-simplify]: Simplify 0 into 0 1.226 * [backup-simplify]: Simplify 1 into 1 1.227 * [backup-simplify]: Simplify (/ 1 1) into 1 1.227 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.227 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.227 * [taylor]: Taking taylor expansion of phi1 in delta 1.227 * [backup-simplify]: Simplify phi1 into phi1 1.227 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.227 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.227 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.227 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.227 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.228 * [backup-simplify]: Simplify (- 0) into 0 1.228 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.228 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.228 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.229 * [backup-simplify]: Simplify (- 0) into 0 1.229 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.229 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 1.229 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 1.229 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.229 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.229 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.229 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 1.230 * [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))))) 1.230 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.230 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.230 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.230 * [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))) 1.231 * [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)))) 1.232 * [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)))) 1.232 * [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 1.232 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.232 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.232 * [taylor]: Taking taylor expansion of delta in phi1 1.232 * [backup-simplify]: Simplify delta into delta 1.232 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.232 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.232 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.232 * [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 1.232 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 1.232 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.232 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.232 * [taylor]: Taking taylor expansion of phi1 in phi1 1.233 * [backup-simplify]: Simplify 0 into 0 1.233 * [backup-simplify]: Simplify 1 into 1 1.233 * [backup-simplify]: Simplify (/ 1 1) into 1 1.233 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.233 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 1.233 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.233 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.233 * [taylor]: Taking taylor expansion of phi1 in phi1 1.233 * [backup-simplify]: Simplify 0 into 0 1.233 * [backup-simplify]: Simplify 1 into 1 1.234 * [backup-simplify]: Simplify (/ 1 1) into 1 1.234 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.234 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 1.234 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.234 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.234 * [taylor]: Taking taylor expansion of theta in phi1 1.234 * [backup-simplify]: Simplify theta into theta 1.234 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.234 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.234 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.234 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.234 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.234 * [taylor]: Taking taylor expansion of delta in phi1 1.234 * [backup-simplify]: Simplify delta into delta 1.234 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.234 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.235 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.235 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 1.235 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.235 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.235 * [taylor]: Taking taylor expansion of delta in phi1 1.235 * [backup-simplify]: Simplify delta into delta 1.235 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.235 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.235 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.235 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 1.235 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.235 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.235 * [taylor]: Taking taylor expansion of phi1 in phi1 1.235 * [backup-simplify]: Simplify 0 into 0 1.235 * [backup-simplify]: Simplify 1 into 1 1.235 * [backup-simplify]: Simplify (/ 1 1) into 1 1.236 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.236 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.236 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.236 * [backup-simplify]: Simplify (- 0) into 0 1.236 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.236 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.236 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.237 * [backup-simplify]: Simplify (- 0) into 0 1.237 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.237 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.237 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.237 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.237 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 1.237 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 1.238 * [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))))) 1.238 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.238 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.238 * [backup-simplify]: Simplify (- 0) into 0 1.238 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.239 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 1.239 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 1.239 * [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)))) 1.240 * [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)))) 1.241 * [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)))) 1.241 * [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 1.241 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.241 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.241 * [taylor]: Taking taylor expansion of delta in theta 1.241 * [backup-simplify]: Simplify delta into delta 1.241 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.242 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.242 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.242 * [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 1.242 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 1.242 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.242 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.242 * [taylor]: Taking taylor expansion of phi1 in theta 1.242 * [backup-simplify]: Simplify phi1 into phi1 1.242 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.242 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.242 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.242 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 1.242 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.242 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.242 * [taylor]: Taking taylor expansion of delta in theta 1.242 * [backup-simplify]: Simplify delta into delta 1.242 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.243 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.243 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.243 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 1.243 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.243 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.243 * [taylor]: Taking taylor expansion of theta in theta 1.243 * [backup-simplify]: Simplify 0 into 0 1.243 * [backup-simplify]: Simplify 1 into 1 1.243 * [backup-simplify]: Simplify (/ 1 1) into 1 1.244 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.244 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.244 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.244 * [taylor]: Taking taylor expansion of phi1 in theta 1.244 * [backup-simplify]: Simplify phi1 into phi1 1.244 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.244 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.244 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.244 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 1.244 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.244 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.244 * [taylor]: Taking taylor expansion of delta in theta 1.244 * [backup-simplify]: Simplify delta into delta 1.244 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.244 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.244 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.244 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 1.244 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.244 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.244 * [taylor]: Taking taylor expansion of phi1 in theta 1.244 * [backup-simplify]: Simplify phi1 into phi1 1.244 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.245 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.245 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.245 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.245 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.245 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.245 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.245 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.246 * [backup-simplify]: Simplify (- 0) into 0 1.246 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.246 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.246 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.246 * [backup-simplify]: Simplify (- 0) into 0 1.246 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.247 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.247 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.247 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.247 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.247 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.247 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.247 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 1.247 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 1.248 * [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))))) 1.248 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.248 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.248 * [backup-simplify]: Simplify (- 0) into 0 1.248 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.249 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 1.249 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 1.249 * [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)))) 1.250 * [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))))))) 1.251 * [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))))))) 1.251 * [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))))) 1.252 * [backup-simplify]: Simplify (+ 0) into 0 1.252 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.253 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.254 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.254 * [backup-simplify]: Simplify (+ 0 0) into 0 1.255 * [backup-simplify]: Simplify (+ 0) into 0 1.255 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.255 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.257 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.257 * [backup-simplify]: Simplify (- 0) into 0 1.257 * [backup-simplify]: Simplify (+ 0 0) into 0 1.258 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 1.258 * [backup-simplify]: Simplify (+ 0) into 0 1.258 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.260 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.260 * [backup-simplify]: Simplify (- 0) into 0 1.261 * [backup-simplify]: Simplify (+ 0 0) into 0 1.261 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 1.261 * [backup-simplify]: Simplify (+ 0) into 0 1.262 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.262 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.263 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.264 * [backup-simplify]: Simplify (+ 0 0) into 0 1.264 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 1.264 * [backup-simplify]: Simplify (+ 0 0) into 0 1.265 * [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 1.265 * [backup-simplify]: Simplify (- 0) into 0 1.268 * [backup-simplify]: Simplify (+ 0 0) into 0 1.268 * [taylor]: Taking taylor expansion of 0 in phi1 1.268 * [backup-simplify]: Simplify 0 into 0 1.268 * [taylor]: Taking taylor expansion of 0 in theta 1.268 * [backup-simplify]: Simplify 0 into 0 1.268 * [backup-simplify]: Simplify 0 into 0 1.270 * [backup-simplify]: Simplify (+ 0) into 0 1.270 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.270 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.272 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.272 * [backup-simplify]: Simplify (- 0) into 0 1.272 * [backup-simplify]: Simplify (+ 0 0) into 0 1.273 * [backup-simplify]: Simplify (+ 0) into 0 1.273 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.275 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.275 * [backup-simplify]: Simplify (+ 0 0) into 0 1.276 * [backup-simplify]: Simplify (+ 0) into 0 1.276 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.277 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.278 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.278 * [backup-simplify]: Simplify (- 0) into 0 1.279 * [backup-simplify]: Simplify (+ 0 0) into 0 1.279 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 1.279 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 1.279 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 1.280 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.280 * [backup-simplify]: Simplify (+ 0) into 0 1.281 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.281 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.282 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.283 * [backup-simplify]: Simplify (- 0) into 0 1.283 * [backup-simplify]: Simplify (+ 0 0) into 0 1.283 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 1.284 * [backup-simplify]: Simplify (+ 0 0) into 0 1.284 * [backup-simplify]: Simplify (- 0) into 0 1.285 * [backup-simplify]: Simplify (+ 0 0) into 0 1.285 * [taylor]: Taking taylor expansion of 0 in theta 1.285 * [backup-simplify]: Simplify 0 into 0 1.285 * [backup-simplify]: Simplify 0 into 0 1.285 * [backup-simplify]: Simplify (+ 0) into 0 1.286 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.286 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.288 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.288 * [backup-simplify]: Simplify (- 0) into 0 1.288 * [backup-simplify]: Simplify (+ 0 0) into 0 1.289 * [backup-simplify]: Simplify (+ 0) into 0 1.289 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.289 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.291 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.291 * [backup-simplify]: Simplify (+ 0 0) into 0 1.291 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.292 * [backup-simplify]: Simplify (+ 0) into 0 1.292 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.292 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.294 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.294 * [backup-simplify]: Simplify (+ 0 0) into 0 1.294 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 1.295 * [backup-simplify]: Simplify (+ 0) into 0 1.295 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.297 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.297 * [backup-simplify]: Simplify (- 0) into 0 1.298 * [backup-simplify]: Simplify (+ 0 0) into 0 1.298 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 1.298 * [backup-simplify]: Simplify (+ 0) into 0 1.299 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.299 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.300 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.301 * [backup-simplify]: Simplify (+ 0 0) into 0 1.301 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.301 * [backup-simplify]: Simplify (+ 0) into 0 1.302 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.303 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.304 * [backup-simplify]: Simplify (- 0) into 0 1.304 * [backup-simplify]: Simplify (+ 0 0) into 0 1.304 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 1.305 * [backup-simplify]: Simplify (+ 0 0) into 0 1.305 * [backup-simplify]: Simplify (- 0) into 0 1.305 * [backup-simplify]: Simplify (+ 0 0) into 0 1.305 * [backup-simplify]: Simplify 0 into 0 1.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.307 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.307 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.308 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.309 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.309 * [backup-simplify]: Simplify (+ 0 0) into 0 1.310 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.311 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.311 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.312 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.312 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.313 * [backup-simplify]: Simplify (- 0) into 0 1.313 * [backup-simplify]: Simplify (+ 0 0) into 0 1.314 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 1.315 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.315 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.317 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.317 * [backup-simplify]: Simplify (- 0) into 0 1.318 * [backup-simplify]: Simplify (+ 0 0) into 0 1.318 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 1.319 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.320 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.320 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.321 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.322 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.322 * [backup-simplify]: Simplify (+ 0 0) into 0 1.322 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 1.323 * [backup-simplify]: Simplify (+ 0 0) into 0 1.324 * [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 1.324 * [backup-simplify]: Simplify (- 0) into 0 1.324 * [backup-simplify]: Simplify (+ 0 0) into 0 1.325 * [taylor]: Taking taylor expansion of 0 in phi1 1.325 * [backup-simplify]: Simplify 0 into 0 1.325 * [taylor]: Taking taylor expansion of 0 in theta 1.325 * [backup-simplify]: Simplify 0 into 0 1.325 * [backup-simplify]: Simplify 0 into 0 1.325 * [taylor]: Taking taylor expansion of 0 in theta 1.325 * [backup-simplify]: Simplify 0 into 0 1.325 * [backup-simplify]: Simplify 0 into 0 1.326 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.327 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.327 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.328 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.329 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.329 * [backup-simplify]: Simplify (- 0) into 0 1.330 * [backup-simplify]: Simplify (+ 0 0) into 0 1.331 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.331 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.332 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.332 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.333 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.333 * [backup-simplify]: Simplify (+ 0 0) into 0 1.334 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.335 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.335 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.336 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.337 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.337 * [backup-simplify]: Simplify (- 0) into 0 1.337 * [backup-simplify]: Simplify (+ 0 0) into 0 1.338 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 1.339 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 1.339 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 1.340 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.341 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.341 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.342 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.342 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.343 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.343 * [backup-simplify]: Simplify (- 0) into 0 1.344 * [backup-simplify]: Simplify (+ 0 0) into 0 1.344 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 1.345 * [backup-simplify]: Simplify (+ 0 0) into 0 1.345 * [backup-simplify]: Simplify (- 0) into 0 1.345 * [backup-simplify]: Simplify (+ 0 0) into 0 1.345 * [taylor]: Taking taylor expansion of 0 in theta 1.345 * [backup-simplify]: Simplify 0 into 0 1.345 * [backup-simplify]: Simplify 0 into 0 1.345 * [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)))))) 1.346 * [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)))))) 1.346 * [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 1.346 * [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 1.346 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.346 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.346 * [taylor]: Taking taylor expansion of -1 in theta 1.346 * [backup-simplify]: Simplify -1 into -1 1.346 * [taylor]: Taking taylor expansion of delta in theta 1.346 * [backup-simplify]: Simplify delta into delta 1.346 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.346 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.346 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.346 * [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 1.346 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.346 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.346 * [taylor]: Taking taylor expansion of -1 in theta 1.346 * [backup-simplify]: Simplify -1 into -1 1.346 * [taylor]: Taking taylor expansion of phi1 in theta 1.346 * [backup-simplify]: Simplify phi1 into phi1 1.346 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.346 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.346 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.346 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 1.346 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.346 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 1.346 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.346 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.346 * [taylor]: Taking taylor expansion of -1 in theta 1.346 * [backup-simplify]: Simplify -1 into -1 1.346 * [taylor]: Taking taylor expansion of theta in theta 1.347 * [backup-simplify]: Simplify 0 into 0 1.347 * [backup-simplify]: Simplify 1 into 1 1.347 * [backup-simplify]: Simplify (/ -1 1) into -1 1.347 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.347 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 1.347 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.347 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.347 * [taylor]: Taking taylor expansion of -1 in theta 1.347 * [backup-simplify]: Simplify -1 into -1 1.347 * [taylor]: Taking taylor expansion of phi1 in theta 1.347 * [backup-simplify]: Simplify phi1 into phi1 1.347 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.347 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.347 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.347 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.347 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.347 * [taylor]: Taking taylor expansion of -1 in theta 1.347 * [backup-simplify]: Simplify -1 into -1 1.347 * [taylor]: Taking taylor expansion of delta in theta 1.347 * [backup-simplify]: Simplify delta into delta 1.347 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.347 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.347 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.347 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 1.347 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.347 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.347 * [taylor]: Taking taylor expansion of -1 in theta 1.347 * [backup-simplify]: Simplify -1 into -1 1.347 * [taylor]: Taking taylor expansion of phi1 in theta 1.347 * [backup-simplify]: Simplify phi1 into phi1 1.347 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.347 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.348 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.348 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.348 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.348 * [taylor]: Taking taylor expansion of -1 in theta 1.348 * [backup-simplify]: Simplify -1 into -1 1.348 * [taylor]: Taking taylor expansion of delta in theta 1.348 * [backup-simplify]: Simplify delta into delta 1.348 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.348 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.348 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.348 * [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 1.348 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.348 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.348 * [taylor]: Taking taylor expansion of -1 in phi1 1.348 * [backup-simplify]: Simplify -1 into -1 1.348 * [taylor]: Taking taylor expansion of delta in phi1 1.348 * [backup-simplify]: Simplify delta into delta 1.348 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.348 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.348 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.348 * [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 1.348 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.348 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.348 * [taylor]: Taking taylor expansion of -1 in phi1 1.348 * [backup-simplify]: Simplify -1 into -1 1.348 * [taylor]: Taking taylor expansion of phi1 in phi1 1.348 * [backup-simplify]: Simplify 0 into 0 1.348 * [backup-simplify]: Simplify 1 into 1 1.348 * [backup-simplify]: Simplify (/ -1 1) into -1 1.348 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.348 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 1.349 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.349 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 1.349 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.349 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.349 * [taylor]: Taking taylor expansion of -1 in phi1 1.349 * [backup-simplify]: Simplify -1 into -1 1.349 * [taylor]: Taking taylor expansion of theta in phi1 1.349 * [backup-simplify]: Simplify theta into theta 1.349 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.349 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.349 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.349 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 1.349 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.349 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.349 * [taylor]: Taking taylor expansion of -1 in phi1 1.349 * [backup-simplify]: Simplify -1 into -1 1.349 * [taylor]: Taking taylor expansion of phi1 in phi1 1.349 * [backup-simplify]: Simplify 0 into 0 1.349 * [backup-simplify]: Simplify 1 into 1 1.349 * [backup-simplify]: Simplify (/ -1 1) into -1 1.349 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.349 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.349 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.349 * [taylor]: Taking taylor expansion of -1 in phi1 1.349 * [backup-simplify]: Simplify -1 into -1 1.349 * [taylor]: Taking taylor expansion of delta in phi1 1.349 * [backup-simplify]: Simplify delta into delta 1.349 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.349 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.349 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.349 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 1.349 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.350 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.350 * [taylor]: Taking taylor expansion of -1 in phi1 1.350 * [backup-simplify]: Simplify -1 into -1 1.350 * [taylor]: Taking taylor expansion of phi1 in phi1 1.350 * [backup-simplify]: Simplify 0 into 0 1.350 * [backup-simplify]: Simplify 1 into 1 1.350 * [backup-simplify]: Simplify (/ -1 1) into -1 1.350 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.350 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.350 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.350 * [taylor]: Taking taylor expansion of -1 in phi1 1.350 * [backup-simplify]: Simplify -1 into -1 1.350 * [taylor]: Taking taylor expansion of delta in phi1 1.350 * [backup-simplify]: Simplify delta into delta 1.350 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.350 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.350 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.350 * [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 1.350 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.350 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.350 * [taylor]: Taking taylor expansion of -1 in delta 1.350 * [backup-simplify]: Simplify -1 into -1 1.350 * [taylor]: Taking taylor expansion of delta in delta 1.350 * [backup-simplify]: Simplify 0 into 0 1.350 * [backup-simplify]: Simplify 1 into 1 1.351 * [backup-simplify]: Simplify (/ -1 1) into -1 1.351 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.351 * [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 1.351 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.351 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.351 * [taylor]: Taking taylor expansion of -1 in delta 1.351 * [backup-simplify]: Simplify -1 into -1 1.351 * [taylor]: Taking taylor expansion of phi1 in delta 1.351 * [backup-simplify]: Simplify phi1 into phi1 1.351 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.351 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.351 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.351 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 1.351 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.351 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 1.351 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.351 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.351 * [taylor]: Taking taylor expansion of -1 in delta 1.351 * [backup-simplify]: Simplify -1 into -1 1.351 * [taylor]: Taking taylor expansion of theta in delta 1.351 * [backup-simplify]: Simplify theta into theta 1.351 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.351 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.351 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.351 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 1.351 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.351 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.351 * [taylor]: Taking taylor expansion of -1 in delta 1.351 * [backup-simplify]: Simplify -1 into -1 1.351 * [taylor]: Taking taylor expansion of phi1 in delta 1.351 * [backup-simplify]: Simplify phi1 into phi1 1.351 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.351 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.351 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.351 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.351 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.351 * [taylor]: Taking taylor expansion of -1 in delta 1.351 * [backup-simplify]: Simplify -1 into -1 1.351 * [taylor]: Taking taylor expansion of delta in delta 1.351 * [backup-simplify]: Simplify 0 into 0 1.352 * [backup-simplify]: Simplify 1 into 1 1.352 * [backup-simplify]: Simplify (/ -1 1) into -1 1.352 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.352 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 1.352 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.352 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.352 * [taylor]: Taking taylor expansion of -1 in delta 1.352 * [backup-simplify]: Simplify -1 into -1 1.352 * [taylor]: Taking taylor expansion of phi1 in delta 1.352 * [backup-simplify]: Simplify phi1 into phi1 1.352 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.352 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.352 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.352 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.352 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.352 * [taylor]: Taking taylor expansion of -1 in delta 1.352 * [backup-simplify]: Simplify -1 into -1 1.352 * [taylor]: Taking taylor expansion of delta in delta 1.352 * [backup-simplify]: Simplify 0 into 0 1.352 * [backup-simplify]: Simplify 1 into 1 1.353 * [backup-simplify]: Simplify (/ -1 1) into -1 1.353 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.353 * [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 1.353 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.353 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.353 * [taylor]: Taking taylor expansion of -1 in delta 1.353 * [backup-simplify]: Simplify -1 into -1 1.353 * [taylor]: Taking taylor expansion of delta in delta 1.353 * [backup-simplify]: Simplify 0 into 0 1.353 * [backup-simplify]: Simplify 1 into 1 1.353 * [backup-simplify]: Simplify (/ -1 1) into -1 1.353 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.353 * [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 1.353 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.353 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.353 * [taylor]: Taking taylor expansion of -1 in delta 1.353 * [backup-simplify]: Simplify -1 into -1 1.353 * [taylor]: Taking taylor expansion of phi1 in delta 1.353 * [backup-simplify]: Simplify phi1 into phi1 1.353 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.353 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.353 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.353 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 1.353 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.354 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 1.354 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.354 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.354 * [taylor]: Taking taylor expansion of -1 in delta 1.354 * [backup-simplify]: Simplify -1 into -1 1.354 * [taylor]: Taking taylor expansion of theta in delta 1.354 * [backup-simplify]: Simplify theta into theta 1.354 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.354 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.354 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.354 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 1.354 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.354 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.354 * [taylor]: Taking taylor expansion of -1 in delta 1.354 * [backup-simplify]: Simplify -1 into -1 1.354 * [taylor]: Taking taylor expansion of phi1 in delta 1.354 * [backup-simplify]: Simplify phi1 into phi1 1.354 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.354 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.354 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.354 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.354 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.354 * [taylor]: Taking taylor expansion of -1 in delta 1.354 * [backup-simplify]: Simplify -1 into -1 1.354 * [taylor]: Taking taylor expansion of delta in delta 1.354 * [backup-simplify]: Simplify 0 into 0 1.354 * [backup-simplify]: Simplify 1 into 1 1.355 * [backup-simplify]: Simplify (/ -1 1) into -1 1.355 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.355 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 1.355 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.355 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.355 * [taylor]: Taking taylor expansion of -1 in delta 1.355 * [backup-simplify]: Simplify -1 into -1 1.355 * [taylor]: Taking taylor expansion of phi1 in delta 1.355 * [backup-simplify]: Simplify phi1 into phi1 1.355 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.355 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.355 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.355 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.355 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.355 * [taylor]: Taking taylor expansion of -1 in delta 1.355 * [backup-simplify]: Simplify -1 into -1 1.355 * [taylor]: Taking taylor expansion of delta in delta 1.355 * [backup-simplify]: Simplify 0 into 0 1.355 * [backup-simplify]: Simplify 1 into 1 1.355 * [backup-simplify]: Simplify (/ -1 1) into -1 1.355 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.355 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.355 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.356 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.356 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.356 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.357 * [backup-simplify]: Simplify (- 0) into 0 1.357 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.357 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.357 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.357 * [backup-simplify]: Simplify (- 0) into 0 1.357 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.358 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 1.358 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 1.358 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.358 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.358 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.358 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 1.358 * [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)))) 1.358 * [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))))) 1.359 * [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))))))) 1.359 * [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))))))) 1.359 * [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 1.359 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.359 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.359 * [taylor]: Taking taylor expansion of -1 in phi1 1.359 * [backup-simplify]: Simplify -1 into -1 1.359 * [taylor]: Taking taylor expansion of delta in phi1 1.359 * [backup-simplify]: Simplify delta into delta 1.359 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.359 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.359 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.359 * [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 1.359 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 1.359 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 1.359 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.359 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.359 * [taylor]: Taking taylor expansion of -1 in phi1 1.359 * [backup-simplify]: Simplify -1 into -1 1.359 * [taylor]: Taking taylor expansion of phi1 in phi1 1.359 * [backup-simplify]: Simplify 0 into 0 1.359 * [backup-simplify]: Simplify 1 into 1 1.360 * [backup-simplify]: Simplify (/ -1 1) into -1 1.360 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.360 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.360 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.360 * [taylor]: Taking taylor expansion of -1 in phi1 1.360 * [backup-simplify]: Simplify -1 into -1 1.360 * [taylor]: Taking taylor expansion of delta in phi1 1.360 * [backup-simplify]: Simplify delta into delta 1.360 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.360 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.360 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.360 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 1.360 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.360 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.360 * [taylor]: Taking taylor expansion of -1 in phi1 1.360 * [backup-simplify]: Simplify -1 into -1 1.360 * [taylor]: Taking taylor expansion of phi1 in phi1 1.360 * [backup-simplify]: Simplify 0 into 0 1.360 * [backup-simplify]: Simplify 1 into 1 1.361 * [backup-simplify]: Simplify (/ -1 1) into -1 1.361 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.361 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 1.361 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.361 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.361 * [taylor]: Taking taylor expansion of -1 in phi1 1.361 * [backup-simplify]: Simplify -1 into -1 1.361 * [taylor]: Taking taylor expansion of theta in phi1 1.361 * [backup-simplify]: Simplify theta into theta 1.361 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.361 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.361 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.361 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 1.361 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.361 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.361 * [taylor]: Taking taylor expansion of -1 in phi1 1.361 * [backup-simplify]: Simplify -1 into -1 1.361 * [taylor]: Taking taylor expansion of delta in phi1 1.361 * [backup-simplify]: Simplify delta into delta 1.361 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.361 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.361 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.361 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.361 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.361 * [taylor]: Taking taylor expansion of -1 in phi1 1.361 * [backup-simplify]: Simplify -1 into -1 1.361 * [taylor]: Taking taylor expansion of phi1 in phi1 1.361 * [backup-simplify]: Simplify 0 into 0 1.361 * [backup-simplify]: Simplify 1 into 1 1.361 * [backup-simplify]: Simplify (/ -1 1) into -1 1.361 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.362 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.362 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.362 * [backup-simplify]: Simplify (- 0) into 0 1.362 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.362 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 1.362 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.362 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.362 * [backup-simplify]: Simplify (- 0) into 0 1.362 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.363 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 1.363 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.363 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.363 * [backup-simplify]: Simplify (- 0) into 0 1.363 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.363 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.363 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.363 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.363 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 1.363 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 1.363 * [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))))) 1.364 * [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)))))) 1.364 * [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))))))) 1.364 * [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))))))) 1.365 * [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 1.365 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.365 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.365 * [taylor]: Taking taylor expansion of -1 in theta 1.365 * [backup-simplify]: Simplify -1 into -1 1.365 * [taylor]: Taking taylor expansion of delta in theta 1.365 * [backup-simplify]: Simplify delta into delta 1.365 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.365 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.365 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.365 * [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 1.365 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 1.365 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 1.365 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.365 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.365 * [taylor]: Taking taylor expansion of -1 in theta 1.365 * [backup-simplify]: Simplify -1 into -1 1.365 * [taylor]: Taking taylor expansion of phi1 in theta 1.365 * [backup-simplify]: Simplify phi1 into phi1 1.365 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.365 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.365 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.365 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.365 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.365 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.365 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.365 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.365 * [taylor]: Taking taylor expansion of -1 in theta 1.365 * [backup-simplify]: Simplify -1 into -1 1.365 * [taylor]: Taking taylor expansion of delta in theta 1.365 * [backup-simplify]: Simplify delta into delta 1.365 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.365 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.365 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.365 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 1.365 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.365 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.365 * [taylor]: Taking taylor expansion of -1 in theta 1.365 * [backup-simplify]: Simplify -1 into -1 1.365 * [taylor]: Taking taylor expansion of phi1 in theta 1.365 * [backup-simplify]: Simplify phi1 into phi1 1.366 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.366 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.366 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.366 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 1.366 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.366 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.366 * [taylor]: Taking taylor expansion of -1 in theta 1.366 * [backup-simplify]: Simplify -1 into -1 1.366 * [taylor]: Taking taylor expansion of theta in theta 1.366 * [backup-simplify]: Simplify 0 into 0 1.366 * [backup-simplify]: Simplify 1 into 1 1.366 * [backup-simplify]: Simplify (/ -1 1) into -1 1.366 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.366 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 1.366 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.366 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.366 * [taylor]: Taking taylor expansion of -1 in theta 1.366 * [backup-simplify]: Simplify -1 into -1 1.366 * [taylor]: Taking taylor expansion of delta in theta 1.366 * [backup-simplify]: Simplify delta into delta 1.366 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.366 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.366 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.366 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.366 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.366 * [taylor]: Taking taylor expansion of -1 in theta 1.366 * [backup-simplify]: Simplify -1 into -1 1.366 * [taylor]: Taking taylor expansion of phi1 in theta 1.367 * [backup-simplify]: Simplify phi1 into phi1 1.367 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.367 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.367 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.367 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.367 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.367 * [backup-simplify]: Simplify (- 0) into 0 1.367 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.367 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 1.367 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.367 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.367 * [backup-simplify]: Simplify (- 0) into 0 1.368 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.368 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 1.368 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.368 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.368 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.368 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.368 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.368 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.368 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.368 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.368 * [backup-simplify]: Simplify (- 0) into 0 1.368 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.368 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 1.369 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 1.369 * [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))))) 1.369 * [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)))))) 1.369 * [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))))))) 1.370 * [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))))))) 1.370 * [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))))))) 1.370 * [backup-simplify]: Simplify (+ 0) into 0 1.371 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.372 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.372 * [backup-simplify]: Simplify (- 0) into 0 1.372 * [backup-simplify]: Simplify (+ 0 0) into 0 1.372 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.373 * [backup-simplify]: Simplify (+ 0) into 0 1.373 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.373 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.374 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.374 * [backup-simplify]: Simplify (- 0) into 0 1.374 * [backup-simplify]: Simplify (+ 0 0) into 0 1.374 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 1.375 * [backup-simplify]: Simplify (+ 0) into 0 1.375 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.375 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.376 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.376 * [backup-simplify]: Simplify (+ 0 0) into 0 1.376 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 1.376 * [backup-simplify]: Simplify (+ 0 0) into 0 1.377 * [backup-simplify]: Simplify (+ 0) into 0 1.377 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.378 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.378 * [backup-simplify]: Simplify (+ 0 0) into 0 1.378 * [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 1.379 * [backup-simplify]: Simplify (- 0) into 0 1.379 * [backup-simplify]: Simplify (+ 0 0) into 0 1.379 * [taylor]: Taking taylor expansion of 0 in phi1 1.379 * [backup-simplify]: Simplify 0 into 0 1.379 * [taylor]: Taking taylor expansion of 0 in theta 1.379 * [backup-simplify]: Simplify 0 into 0 1.379 * [backup-simplify]: Simplify 0 into 0 1.379 * [backup-simplify]: Simplify (+ 0) into 0 1.380 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.380 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.381 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.381 * [backup-simplify]: Simplify (- 0) into 0 1.381 * [backup-simplify]: Simplify (+ 0 0) into 0 1.381 * [backup-simplify]: Simplify (+ 0) into 0 1.382 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.382 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.383 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.383 * [backup-simplify]: Simplify (- 0) into 0 1.383 * [backup-simplify]: Simplify (+ 0 0) into 0 1.383 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 1.383 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 1.383 * [backup-simplify]: Simplify (+ 0) into 0 1.384 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.384 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.385 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.385 * [backup-simplify]: Simplify (+ 0 0) into 0 1.385 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 1.385 * [backup-simplify]: Simplify (+ 0) into 0 1.386 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.386 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.387 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.387 * [backup-simplify]: Simplify (- 0) into 0 1.387 * [backup-simplify]: Simplify (+ 0 0) into 0 1.388 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 1.388 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 1.388 * [backup-simplify]: Simplify (+ 0 0) into 0 1.388 * [backup-simplify]: Simplify (- 0) into 0 1.388 * [backup-simplify]: Simplify (+ 0 0) into 0 1.389 * [taylor]: Taking taylor expansion of 0 in theta 1.389 * [backup-simplify]: Simplify 0 into 0 1.389 * [backup-simplify]: Simplify 0 into 0 1.389 * [backup-simplify]: Simplify (+ 0) into 0 1.389 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.389 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.390 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.390 * [backup-simplify]: Simplify (- 0) into 0 1.391 * [backup-simplify]: Simplify (+ 0 0) into 0 1.391 * [backup-simplify]: Simplify (+ 0) into 0 1.391 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.391 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.392 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.392 * [backup-simplify]: Simplify (- 0) into 0 1.393 * [backup-simplify]: Simplify (+ 0 0) into 0 1.393 * [backup-simplify]: Simplify (+ 0) into 0 1.393 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.393 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.394 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.396 * [backup-simplify]: Simplify (+ 0 0) into 0 1.396 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 1.396 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 1.397 * [backup-simplify]: Simplify (+ 0) into 0 1.397 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.398 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.398 * [backup-simplify]: Simplify (- 0) into 0 1.398 * [backup-simplify]: Simplify (+ 0 0) into 0 1.399 * [backup-simplify]: Simplify (+ 0) into 0 1.399 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.399 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.400 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.400 * [backup-simplify]: Simplify (+ 0 0) into 0 1.400 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 1.400 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 1.401 * [backup-simplify]: Simplify (+ 0) into 0 1.401 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.402 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.402 * [backup-simplify]: Simplify (+ 0 0) into 0 1.402 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 1.402 * [backup-simplify]: Simplify (+ 0 0) into 0 1.403 * [backup-simplify]: Simplify (- 0) into 0 1.403 * [backup-simplify]: Simplify (+ 0 0) into 0 1.403 * [backup-simplify]: Simplify 0 into 0 1.404 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.404 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.405 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.405 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.406 * [backup-simplify]: Simplify (- 0) into 0 1.406 * [backup-simplify]: Simplify (+ 0 0) into 0 1.406 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 1.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.407 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.407 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.408 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.408 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.408 * [backup-simplify]: Simplify (- 0) into 0 1.409 * [backup-simplify]: Simplify (+ 0 0) into 0 1.409 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 1.410 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.410 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.411 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.412 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.412 * [backup-simplify]: Simplify (+ 0 0) into 0 1.412 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.412 * [backup-simplify]: Simplify (+ 0 0) into 0 1.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.413 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.413 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.414 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.414 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.414 * [backup-simplify]: Simplify (+ 0 0) into 0 1.415 * [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 1.415 * [backup-simplify]: Simplify (- 0) into 0 1.415 * [backup-simplify]: Simplify (+ 0 0) into 0 1.415 * [taylor]: Taking taylor expansion of 0 in phi1 1.415 * [backup-simplify]: Simplify 0 into 0 1.416 * [taylor]: Taking taylor expansion of 0 in theta 1.416 * [backup-simplify]: Simplify 0 into 0 1.416 * [backup-simplify]: Simplify 0 into 0 1.416 * [taylor]: Taking taylor expansion of 0 in theta 1.416 * [backup-simplify]: Simplify 0 into 0 1.416 * [backup-simplify]: Simplify 0 into 0 1.416 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.417 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.417 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.417 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.418 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.418 * [backup-simplify]: Simplify (- 0) into 0 1.418 * [backup-simplify]: Simplify (+ 0 0) into 0 1.419 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.419 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.419 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.420 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.421 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.421 * [backup-simplify]: Simplify (- 0) into 0 1.421 * [backup-simplify]: Simplify (+ 0 0) into 0 1.421 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 1.422 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.422 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.423 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.423 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.423 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.424 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.424 * [backup-simplify]: Simplify (+ 0 0) into 0 1.424 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 1.425 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.426 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.426 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.427 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.428 * [backup-simplify]: Simplify (- 0) into 0 1.428 * [backup-simplify]: Simplify (+ 0 0) into 0 1.429 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 1.429 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 1.430 * [backup-simplify]: Simplify (+ 0 0) into 0 1.430 * [backup-simplify]: Simplify (- 0) into 0 1.431 * [backup-simplify]: Simplify (+ 0 0) into 0 1.431 * [taylor]: Taking taylor expansion of 0 in theta 1.431 * [backup-simplify]: Simplify 0 into 0 1.431 * [backup-simplify]: Simplify 0 into 0 1.432 * [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)))))) 1.432 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2) 1.432 * [backup-simplify]: Simplify (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) into (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 1.432 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 1.432 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 1.432 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.432 * [taylor]: Taking taylor expansion of phi1 in delta 1.432 * [backup-simplify]: Simplify phi1 into phi1 1.432 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.432 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.432 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 1.433 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.433 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 1.433 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.433 * [taylor]: Taking taylor expansion of theta in delta 1.433 * [backup-simplify]: Simplify theta into theta 1.433 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.433 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.433 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 1.433 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.433 * [taylor]: Taking taylor expansion of phi1 in delta 1.433 * [backup-simplify]: Simplify phi1 into phi1 1.433 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.433 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.433 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.433 * [taylor]: Taking taylor expansion of delta in delta 1.433 * [backup-simplify]: Simplify 0 into 0 1.433 * [backup-simplify]: Simplify 1 into 1 1.433 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 1.433 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.433 * [taylor]: Taking taylor expansion of phi1 in delta 1.433 * [backup-simplify]: Simplify phi1 into phi1 1.433 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.433 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.433 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.433 * [taylor]: Taking taylor expansion of delta in delta 1.433 * [backup-simplify]: Simplify 0 into 0 1.433 * [backup-simplify]: Simplify 1 into 1 1.433 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 1.433 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.433 * [taylor]: Taking taylor expansion of phi1 in theta 1.433 * [backup-simplify]: Simplify phi1 into phi1 1.433 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.434 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.434 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 1.434 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.434 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 1.434 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.434 * [taylor]: Taking taylor expansion of theta in theta 1.434 * [backup-simplify]: Simplify 0 into 0 1.434 * [backup-simplify]: Simplify 1 into 1 1.434 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 1.434 * [taylor]: Taking taylor expansion of (cos phi1) in theta 1.434 * [taylor]: Taking taylor expansion of phi1 in theta 1.434 * [backup-simplify]: Simplify phi1 into phi1 1.434 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.434 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.434 * [taylor]: Taking taylor expansion of (sin delta) in theta 1.434 * [taylor]: Taking taylor expansion of delta in theta 1.434 * [backup-simplify]: Simplify delta into delta 1.434 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.434 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.434 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 1.434 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.434 * [taylor]: Taking taylor expansion of phi1 in theta 1.434 * [backup-simplify]: Simplify phi1 into phi1 1.434 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.434 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.434 * [taylor]: Taking taylor expansion of (cos delta) in theta 1.434 * [taylor]: Taking taylor expansion of delta in theta 1.434 * [backup-simplify]: Simplify delta into delta 1.434 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.434 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.434 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 1.434 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.435 * [taylor]: Taking taylor expansion of phi1 in phi1 1.435 * [backup-simplify]: Simplify 0 into 0 1.435 * [backup-simplify]: Simplify 1 into 1 1.435 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 1.435 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.435 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 1.435 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.435 * [taylor]: Taking taylor expansion of theta in phi1 1.435 * [backup-simplify]: Simplify theta into theta 1.435 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.435 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.435 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 1.435 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.435 * [taylor]: Taking taylor expansion of phi1 in phi1 1.435 * [backup-simplify]: Simplify 0 into 0 1.435 * [backup-simplify]: Simplify 1 into 1 1.435 * [taylor]: Taking taylor expansion of (sin delta) in phi1 1.435 * [taylor]: Taking taylor expansion of delta in phi1 1.435 * [backup-simplify]: Simplify delta into delta 1.435 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.435 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.435 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 1.435 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.435 * [taylor]: Taking taylor expansion of phi1 in phi1 1.435 * [backup-simplify]: Simplify 0 into 0 1.435 * [backup-simplify]: Simplify 1 into 1 1.435 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.435 * [taylor]: Taking taylor expansion of delta in phi1 1.435 * [backup-simplify]: Simplify delta into delta 1.435 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.435 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.435 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 1.435 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.435 * [taylor]: Taking taylor expansion of phi1 in phi1 1.435 * [backup-simplify]: Simplify 0 into 0 1.436 * [backup-simplify]: Simplify 1 into 1 1.436 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 1.436 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 1.436 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 1.436 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.436 * [taylor]: Taking taylor expansion of theta in phi1 1.436 * [backup-simplify]: Simplify theta into theta 1.436 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.436 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.436 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 1.436 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.436 * [taylor]: Taking taylor expansion of phi1 in phi1 1.436 * [backup-simplify]: Simplify 0 into 0 1.436 * [backup-simplify]: Simplify 1 into 1 1.436 * [taylor]: Taking taylor expansion of (sin delta) in phi1 1.436 * [taylor]: Taking taylor expansion of delta in phi1 1.436 * [backup-simplify]: Simplify delta into delta 1.436 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.436 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.436 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 1.436 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.436 * [taylor]: Taking taylor expansion of phi1 in phi1 1.436 * [backup-simplify]: Simplify 0 into 0 1.436 * [backup-simplify]: Simplify 1 into 1 1.436 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.436 * [taylor]: Taking taylor expansion of delta in phi1 1.436 * [backup-simplify]: Simplify delta into delta 1.436 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.436 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.436 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.437 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.437 * [backup-simplify]: Simplify (- 0) into 0 1.437 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.437 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 1.437 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 1.437 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 1.437 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 1.438 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 1.438 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 1.438 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 1.438 * [backup-simplify]: Simplify (- 0) into 0 1.438 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 1.438 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 1.438 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 1.438 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 1.438 * [taylor]: Taking taylor expansion of 0 in theta 1.438 * [backup-simplify]: Simplify 0 into 0 1.438 * [taylor]: Taking taylor expansion of 0 in delta 1.439 * [backup-simplify]: Simplify 0 into 0 1.439 * [backup-simplify]: Simplify 0 into 0 1.439 * [backup-simplify]: Simplify (+ 0) into 0 1.439 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 1.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.441 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 1.441 * [backup-simplify]: Simplify (+ 0 0) into 0 1.441 * [backup-simplify]: Simplify (+ 0) into 0 1.442 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 1.442 * [backup-simplify]: Simplify (+ 0) into 0 1.443 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.444 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 1.444 * [backup-simplify]: Simplify (- 0) into 0 1.445 * [backup-simplify]: Simplify (+ 0 0) into 0 1.445 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 1.445 * [backup-simplify]: Simplify (+ 0) into 0 1.446 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 1.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.447 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 1.447 * [backup-simplify]: Simplify (- 0) into 0 1.447 * [backup-simplify]: Simplify (+ 0 0) into 0 1.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.449 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 1.449 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 1.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.450 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 1.450 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 1.450 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.450 * [taylor]: Taking taylor expansion of theta in theta 1.450 * [backup-simplify]: Simplify 0 into 0 1.450 * [backup-simplify]: Simplify 1 into 1 1.450 * [taylor]: Taking taylor expansion of (sin delta) in theta 1.450 * [taylor]: Taking taylor expansion of delta in theta 1.450 * [backup-simplify]: Simplify delta into delta 1.450 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.450 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.450 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 1.450 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 1.450 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 1.450 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 1.450 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.450 * [taylor]: Taking taylor expansion of delta in delta 1.450 * [backup-simplify]: Simplify 0 into 0 1.450 * [backup-simplify]: Simplify 1 into 1 1.450 * [backup-simplify]: Simplify 0 into 0 1.450 * [taylor]: Taking taylor expansion of 0 in delta 1.451 * [backup-simplify]: Simplify 0 into 0 1.451 * [backup-simplify]: Simplify 0 into 0 1.451 * [backup-simplify]: Simplify 0 into 0 1.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.452 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 1.453 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.454 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 1.454 * [backup-simplify]: Simplify (+ 0 0) into 0 1.455 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 1.456 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 1.457 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.457 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 1.458 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.459 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 1.459 * [backup-simplify]: Simplify (- 0) into 0 1.459 * [backup-simplify]: Simplify (+ 0 0) into 0 1.460 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 1.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.461 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 1.462 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.462 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 1.462 * [backup-simplify]: Simplify (- 0) into 0 1.462 * [backup-simplify]: Simplify (+ 0 0) into 0 1.463 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.463 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 1.464 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 1.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.464 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 1.464 * [taylor]: Taking taylor expansion of (cos delta) in theta 1.464 * [taylor]: Taking taylor expansion of delta in theta 1.464 * [backup-simplify]: Simplify delta into delta 1.464 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.464 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.464 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 1.464 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 1.465 * [backup-simplify]: Simplify (- 0) into 0 1.465 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 1.465 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.465 * [taylor]: Taking taylor expansion of delta in delta 1.465 * [backup-simplify]: Simplify 0 into 0 1.465 * [backup-simplify]: Simplify 1 into 1 1.465 * [backup-simplify]: Simplify 1 into 1 1.465 * [backup-simplify]: Simplify (+ 0) into 0 1.465 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 1.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.466 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 1.466 * [backup-simplify]: Simplify (+ 0 0) into 0 1.467 * [backup-simplify]: Simplify (+ 0) into 0 1.467 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 1.467 * [taylor]: Taking taylor expansion of 0 in delta 1.467 * [backup-simplify]: Simplify 0 into 0 1.467 * [backup-simplify]: Simplify 0 into 0 1.467 * [taylor]: Taking taylor expansion of 0 in delta 1.467 * [backup-simplify]: Simplify 0 into 0 1.467 * [backup-simplify]: Simplify 0 into 0 1.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.467 * [backup-simplify]: Simplify 1 into 1 1.467 * [backup-simplify]: Simplify 0 into 0 1.467 * [backup-simplify]: Simplify 0 into 0 1.468 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.469 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 1.469 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 1.470 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 1.470 * [backup-simplify]: Simplify (+ 0 0) into 0 1.471 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.472 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 1.472 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.473 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 1.473 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 1.474 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 1.474 * [backup-simplify]: Simplify (- 0) into 0 1.474 * [backup-simplify]: Simplify (+ 0 0) into 0 1.475 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 1.475 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.476 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 1.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 1.477 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 1.477 * [backup-simplify]: Simplify (- 0) into 0 1.477 * [backup-simplify]: Simplify (+ 0 0) into 0 1.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 1.479 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 1.479 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 1.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 1.481 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/6 (cos delta)))) (+ (* 1 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 0 (cos delta)) (* -1/6 (* (cos theta) (sin delta)))))) into (- (* 2/3 (* (cos theta) (sin delta)))) 1.481 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 1.481 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 1.481 * [taylor]: Taking taylor expansion of 2/3 in theta 1.481 * [backup-simplify]: Simplify 2/3 into 2/3 1.481 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 1.481 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.481 * [taylor]: Taking taylor expansion of theta in theta 1.481 * [backup-simplify]: Simplify 0 into 0 1.481 * [backup-simplify]: Simplify 1 into 1 1.481 * [taylor]: Taking taylor expansion of (sin delta) in theta 1.481 * [taylor]: Taking taylor expansion of delta in theta 1.481 * [backup-simplify]: Simplify delta into delta 1.481 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.481 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.481 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 1.481 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 1.481 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 1.481 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 1.481 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 1.481 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 1.481 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 1.481 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 1.481 * [taylor]: Taking taylor expansion of 2/3 in delta 1.481 * [backup-simplify]: Simplify 2/3 into 2/3 1.481 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.481 * [taylor]: Taking taylor expansion of delta in delta 1.481 * [backup-simplify]: Simplify 0 into 0 1.481 * [backup-simplify]: Simplify 1 into 1 1.482 * [backup-simplify]: Simplify (* 2/3 0) into 0 1.482 * [backup-simplify]: Simplify (- 0) into 0 1.482 * [backup-simplify]: Simplify 0 into 0 1.482 * [backup-simplify]: Simplify (+ 0) into 0 1.482 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 1.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.483 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 1.483 * [backup-simplify]: Simplify (- 0) into 0 1.484 * [backup-simplify]: Simplify (+ 0 0) into 0 1.484 * [taylor]: Taking taylor expansion of 0 in delta 1.484 * [backup-simplify]: Simplify 0 into 0 1.484 * [backup-simplify]: Simplify 0 into 0 1.484 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.485 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 1.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.486 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 1.486 * [backup-simplify]: Simplify (+ 0 0) into 0 1.486 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 1.487 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 1.487 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 1.487 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 1.487 * [taylor]: Taking taylor expansion of 1/2 in delta 1.487 * [backup-simplify]: Simplify 1/2 into 1/2 1.487 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.487 * [taylor]: Taking taylor expansion of delta in delta 1.487 * [backup-simplify]: Simplify 0 into 0 1.487 * [backup-simplify]: Simplify 1 into 1 1.487 * [backup-simplify]: Simplify (* 1/2 0) into 0 1.488 * [backup-simplify]: Simplify (- 0) into 0 1.488 * [backup-simplify]: Simplify 0 into 0 1.488 * [taylor]: Taking taylor expansion of 0 in delta 1.488 * [backup-simplify]: Simplify 0 into 0 1.488 * [backup-simplify]: Simplify 0 into 0 1.488 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 1.488 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) into (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) 1.488 * [approximate]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in (phi1 theta delta) around 0 1.488 * [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 1.488 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 1.488 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.488 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 1.488 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.488 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.488 * [taylor]: Taking taylor expansion of theta in delta 1.488 * [backup-simplify]: Simplify theta into theta 1.488 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.488 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.488 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.488 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 1.488 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.488 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.488 * [taylor]: Taking taylor expansion of delta in delta 1.488 * [backup-simplify]: Simplify 0 into 0 1.488 * [backup-simplify]: Simplify 1 into 1 1.489 * [backup-simplify]: Simplify (/ 1 1) into 1 1.489 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.489 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.489 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.489 * [taylor]: Taking taylor expansion of phi1 in delta 1.489 * [backup-simplify]: Simplify phi1 into phi1 1.489 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.489 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.489 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.489 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 1.489 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.489 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.489 * [taylor]: Taking taylor expansion of phi1 in delta 1.489 * [backup-simplify]: Simplify phi1 into phi1 1.489 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.490 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.490 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.490 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.490 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.490 * [taylor]: Taking taylor expansion of delta in delta 1.490 * [backup-simplify]: Simplify 0 into 0 1.490 * [backup-simplify]: Simplify 1 into 1 1.490 * [backup-simplify]: Simplify (/ 1 1) into 1 1.490 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.490 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.490 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.490 * [taylor]: Taking taylor expansion of phi1 in delta 1.490 * [backup-simplify]: Simplify phi1 into phi1 1.490 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.490 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.490 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.490 * [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 1.491 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 1.491 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.491 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 1.491 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.491 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.491 * [taylor]: Taking taylor expansion of theta in theta 1.491 * [backup-simplify]: Simplify 0 into 0 1.491 * [backup-simplify]: Simplify 1 into 1 1.491 * [backup-simplify]: Simplify (/ 1 1) into 1 1.491 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.491 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 1.491 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.491 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.491 * [taylor]: Taking taylor expansion of delta in theta 1.491 * [backup-simplify]: Simplify delta into delta 1.492 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.492 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.492 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.492 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.492 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.492 * [taylor]: Taking taylor expansion of phi1 in theta 1.492 * [backup-simplify]: Simplify phi1 into phi1 1.492 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.492 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.492 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.492 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 1.492 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.492 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.492 * [taylor]: Taking taylor expansion of phi1 in theta 1.492 * [backup-simplify]: Simplify phi1 into phi1 1.492 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.492 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.492 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.492 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.492 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.492 * [taylor]: Taking taylor expansion of delta in theta 1.492 * [backup-simplify]: Simplify delta into delta 1.493 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.493 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.493 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.493 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.493 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.493 * [taylor]: Taking taylor expansion of phi1 in theta 1.493 * [backup-simplify]: Simplify phi1 into phi1 1.493 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.493 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.493 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.493 * [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 1.493 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 1.493 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.493 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 1.493 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.493 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.493 * [taylor]: Taking taylor expansion of theta in phi1 1.493 * [backup-simplify]: Simplify theta into theta 1.493 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.493 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.493 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.493 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 1.493 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.493 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.493 * [taylor]: Taking taylor expansion of delta in phi1 1.493 * [backup-simplify]: Simplify delta into delta 1.494 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.494 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.494 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.494 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.494 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.494 * [taylor]: Taking taylor expansion of phi1 in phi1 1.494 * [backup-simplify]: Simplify 0 into 0 1.494 * [backup-simplify]: Simplify 1 into 1 1.494 * [backup-simplify]: Simplify (/ 1 1) into 1 1.494 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.494 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 1.494 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.495 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.495 * [taylor]: Taking taylor expansion of phi1 in phi1 1.495 * [backup-simplify]: Simplify 0 into 0 1.495 * [backup-simplify]: Simplify 1 into 1 1.495 * [backup-simplify]: Simplify (/ 1 1) into 1 1.495 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.495 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.495 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.495 * [taylor]: Taking taylor expansion of delta in phi1 1.495 * [backup-simplify]: Simplify delta into delta 1.495 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.495 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.495 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.495 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.495 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.495 * [taylor]: Taking taylor expansion of phi1 in phi1 1.495 * [backup-simplify]: Simplify 0 into 0 1.495 * [backup-simplify]: Simplify 1 into 1 1.496 * [backup-simplify]: Simplify (/ 1 1) into 1 1.496 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.496 * [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 1.496 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 1.496 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 1.496 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 1.496 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.496 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.497 * [taylor]: Taking taylor expansion of theta in phi1 1.497 * [backup-simplify]: Simplify theta into theta 1.497 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.497 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.497 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.497 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 1.497 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.497 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.497 * [taylor]: Taking taylor expansion of delta in phi1 1.497 * [backup-simplify]: Simplify delta into delta 1.497 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.497 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.497 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.497 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.497 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.497 * [taylor]: Taking taylor expansion of phi1 in phi1 1.497 * [backup-simplify]: Simplify 0 into 0 1.497 * [backup-simplify]: Simplify 1 into 1 1.498 * [backup-simplify]: Simplify (/ 1 1) into 1 1.498 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.498 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 1.498 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.498 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.498 * [taylor]: Taking taylor expansion of phi1 in phi1 1.498 * [backup-simplify]: Simplify 0 into 0 1.498 * [backup-simplify]: Simplify 1 into 1 1.498 * [backup-simplify]: Simplify (/ 1 1) into 1 1.498 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.498 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.498 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.498 * [taylor]: Taking taylor expansion of delta in phi1 1.498 * [backup-simplify]: Simplify delta into delta 1.498 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.498 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.499 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.499 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.499 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.499 * [taylor]: Taking taylor expansion of phi1 in phi1 1.499 * [backup-simplify]: Simplify 0 into 0 1.499 * [backup-simplify]: Simplify 1 into 1 1.499 * [backup-simplify]: Simplify (/ 1 1) into 1 1.499 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.499 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.499 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.500 * [backup-simplify]: Simplify (- 0) into 0 1.500 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.500 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.500 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.500 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.500 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 1.501 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 1.501 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.501 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.501 * [backup-simplify]: Simplify (- 0) into 0 1.501 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.501 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 1.502 * [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))))) 1.502 * [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))) 1.502 * [taylor]: Taking taylor expansion of (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 1.502 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 1.502 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 1.502 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.502 * [taylor]: Taking taylor expansion of phi1 in theta 1.502 * [backup-simplify]: Simplify phi1 into phi1 1.502 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.502 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.502 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.502 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 1.502 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.502 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.502 * [taylor]: Taking taylor expansion of theta in theta 1.503 * [backup-simplify]: Simplify 0 into 0 1.503 * [backup-simplify]: Simplify 1 into 1 1.503 * [backup-simplify]: Simplify (/ 1 1) into 1 1.503 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.503 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.503 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.503 * [taylor]: Taking taylor expansion of delta in theta 1.503 * [backup-simplify]: Simplify delta into delta 1.503 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.503 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.503 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.503 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 1.503 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.503 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.503 * [taylor]: Taking taylor expansion of delta in theta 1.503 * [backup-simplify]: Simplify delta into delta 1.503 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.504 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.504 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.504 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.504 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.504 * [taylor]: Taking taylor expansion of phi1 in theta 1.504 * [backup-simplify]: Simplify phi1 into phi1 1.504 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.504 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.504 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.504 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.504 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.504 * [taylor]: Taking taylor expansion of phi1 in theta 1.504 * [backup-simplify]: Simplify phi1 into phi1 1.504 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.504 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.504 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.504 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.504 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.505 * [backup-simplify]: Simplify (- 0) into 0 1.505 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.505 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.505 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.505 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.505 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 1.505 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 1.505 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.506 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.506 * [backup-simplify]: Simplify (- 0) into 0 1.506 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.506 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.506 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.506 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.506 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 1.507 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 1.507 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.507 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.507 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.507 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 1.507 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 1.507 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 1.507 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 1.507 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.507 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.508 * [taylor]: Taking taylor expansion of phi1 in delta 1.508 * [backup-simplify]: Simplify phi1 into phi1 1.508 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.508 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.508 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.508 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.508 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.508 * [taylor]: Taking taylor expansion of delta in delta 1.508 * [backup-simplify]: Simplify 0 into 0 1.508 * [backup-simplify]: Simplify 1 into 1 1.508 * [backup-simplify]: Simplify (/ 1 1) into 1 1.508 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.508 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 1.508 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.508 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.508 * [taylor]: Taking taylor expansion of delta in delta 1.509 * [backup-simplify]: Simplify 0 into 0 1.509 * [backup-simplify]: Simplify 1 into 1 1.509 * [backup-simplify]: Simplify (/ 1 1) into 1 1.509 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.509 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 1.509 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.509 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.509 * [taylor]: Taking taylor expansion of theta in delta 1.509 * [backup-simplify]: Simplify theta into theta 1.509 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.509 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.509 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.509 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.509 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.509 * [taylor]: Taking taylor expansion of phi1 in delta 1.509 * [backup-simplify]: Simplify phi1 into phi1 1.509 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.510 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.510 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.510 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.510 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.510 * [taylor]: Taking taylor expansion of phi1 in delta 1.510 * [backup-simplify]: Simplify phi1 into phi1 1.510 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.510 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.510 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.510 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.510 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.510 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.510 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 1.510 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.510 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.511 * [backup-simplify]: Simplify (- 0) into 0 1.511 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.511 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.511 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.515 * [backup-simplify]: Simplify (- 0) into 0 1.515 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.515 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 1.515 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 1.515 * [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)))) 1.516 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.516 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.516 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.516 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 1.516 * [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))) 1.517 * [backup-simplify]: Simplify (+ 0) into 0 1.518 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.518 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.519 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.520 * [backup-simplify]: Simplify (+ 0 0) into 0 1.520 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 1.520 * [backup-simplify]: Simplify (+ 0) into 0 1.521 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.521 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.522 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.522 * [backup-simplify]: Simplify (- 0) into 0 1.523 * [backup-simplify]: Simplify (+ 0 0) into 0 1.523 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 1.523 * [backup-simplify]: Simplify (+ 0) into 0 1.524 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.524 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.525 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.526 * [backup-simplify]: Simplify (- 0) into 0 1.526 * [backup-simplify]: Simplify (+ 0 0) into 0 1.526 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 1.527 * [backup-simplify]: Simplify (+ 0 0) into 0 1.527 * [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 1.527 * [taylor]: Taking taylor expansion of 0 in theta 1.527 * [backup-simplify]: Simplify 0 into 0 1.527 * [taylor]: Taking taylor expansion of 0 in delta 1.527 * [backup-simplify]: Simplify 0 into 0 1.527 * [backup-simplify]: Simplify 0 into 0 1.528 * [backup-simplify]: Simplify (+ 0) into 0 1.528 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.528 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.530 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.530 * [backup-simplify]: Simplify (+ 0 0) into 0 1.531 * [backup-simplify]: Simplify (+ 0) into 0 1.531 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.532 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.533 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.533 * [backup-simplify]: Simplify (+ 0 0) into 0 1.533 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 1.534 * [backup-simplify]: Simplify (+ 0) into 0 1.534 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.534 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.536 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.536 * [backup-simplify]: Simplify (- 0) into 0 1.536 * [backup-simplify]: Simplify (+ 0 0) into 0 1.537 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 1.537 * [backup-simplify]: Simplify (+ 0) into 0 1.537 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.538 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.539 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.539 * [backup-simplify]: Simplify (+ 0 0) into 0 1.539 * [backup-simplify]: Simplify (+ 0) into 0 1.540 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.540 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.541 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.541 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.541 * [backup-simplify]: Simplify (- 0) into 0 1.542 * [backup-simplify]: Simplify (+ 0 0) into 0 1.542 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.542 * [backup-simplify]: Simplify (+ 0 0) into 0 1.543 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.543 * [taylor]: Taking taylor expansion of 0 in delta 1.543 * [backup-simplify]: Simplify 0 into 0 1.543 * [backup-simplify]: Simplify 0 into 0 1.543 * [backup-simplify]: Simplify (+ 0) into 0 1.544 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.544 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.545 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.545 * [backup-simplify]: Simplify (+ 0 0) into 0 1.546 * [backup-simplify]: Simplify (+ 0) into 0 1.546 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.546 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.548 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.548 * [backup-simplify]: Simplify (+ 0 0) into 0 1.548 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 1.548 * [backup-simplify]: Simplify (+ 0) into 0 1.549 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.549 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.550 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.551 * [backup-simplify]: Simplify (- 0) into 0 1.551 * [backup-simplify]: Simplify (+ 0 0) into 0 1.551 * [backup-simplify]: Simplify (+ 0) into 0 1.552 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.552 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.553 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.554 * [backup-simplify]: Simplify (- 0) into 0 1.554 * [backup-simplify]: Simplify (+ 0 0) into 0 1.554 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 1.554 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 1.555 * [backup-simplify]: Simplify (+ 0 0) into 0 1.555 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.555 * [backup-simplify]: Simplify 0 into 0 1.556 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.557 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.557 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.558 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.558 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.559 * [backup-simplify]: Simplify (+ 0 0) into 0 1.559 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 1.560 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.561 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.562 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.563 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.563 * [backup-simplify]: Simplify (- 0) into 0 1.564 * [backup-simplify]: Simplify (+ 0 0) into 0 1.564 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 1.565 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.566 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.566 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.567 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.567 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.568 * [backup-simplify]: Simplify (- 0) into 0 1.568 * [backup-simplify]: Simplify (+ 0 0) into 0 1.569 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 1.569 * [backup-simplify]: Simplify (+ 0 0) into 0 1.570 * [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 1.570 * [taylor]: Taking taylor expansion of 0 in theta 1.570 * [backup-simplify]: Simplify 0 into 0 1.570 * [taylor]: Taking taylor expansion of 0 in delta 1.570 * [backup-simplify]: Simplify 0 into 0 1.570 * [backup-simplify]: Simplify 0 into 0 1.570 * [taylor]: Taking taylor expansion of 0 in delta 1.570 * [backup-simplify]: Simplify 0 into 0 1.570 * [backup-simplify]: Simplify 0 into 0 1.571 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.572 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.573 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.573 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.574 * [backup-simplify]: Simplify (+ 0 0) into 0 1.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.575 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.575 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.576 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.577 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.577 * [backup-simplify]: Simplify (+ 0 0) into 0 1.578 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 1.579 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.579 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.580 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.580 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.581 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.581 * [backup-simplify]: Simplify (- 0) into 0 1.582 * [backup-simplify]: Simplify (+ 0 0) into 0 1.582 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 1.583 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.584 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.584 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.585 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.585 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.586 * [backup-simplify]: Simplify (+ 0 0) into 0 1.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.587 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.587 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.588 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.589 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.589 * [backup-simplify]: Simplify (- 0) into 0 1.589 * [backup-simplify]: Simplify (+ 0 0) into 0 1.590 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.590 * [backup-simplify]: Simplify (+ 0 0) into 0 1.591 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.591 * [taylor]: Taking taylor expansion of 0 in delta 1.591 * [backup-simplify]: Simplify 0 into 0 1.591 * [backup-simplify]: Simplify 0 into 0 1.592 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 1.592 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))))) into (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 1.592 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (phi1 theta delta) around 0 1.592 * [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 1.592 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.592 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.592 * [taylor]: Taking taylor expansion of -1 in delta 1.592 * [backup-simplify]: Simplify -1 into -1 1.592 * [taylor]: Taking taylor expansion of phi1 in delta 1.592 * [backup-simplify]: Simplify phi1 into phi1 1.593 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.593 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.593 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.593 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 1.593 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.593 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 1.593 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.593 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.593 * [taylor]: Taking taylor expansion of -1 in delta 1.593 * [backup-simplify]: Simplify -1 into -1 1.593 * [taylor]: Taking taylor expansion of theta in delta 1.593 * [backup-simplify]: Simplify theta into theta 1.593 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.593 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.593 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.593 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 1.593 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.593 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.593 * [taylor]: Taking taylor expansion of -1 in delta 1.593 * [backup-simplify]: Simplify -1 into -1 1.593 * [taylor]: Taking taylor expansion of phi1 in delta 1.593 * [backup-simplify]: Simplify phi1 into phi1 1.593 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.593 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.594 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.594 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.594 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.594 * [taylor]: Taking taylor expansion of -1 in delta 1.594 * [backup-simplify]: Simplify -1 into -1 1.594 * [taylor]: Taking taylor expansion of delta in delta 1.594 * [backup-simplify]: Simplify 0 into 0 1.594 * [backup-simplify]: Simplify 1 into 1 1.594 * [backup-simplify]: Simplify (/ -1 1) into -1 1.594 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.594 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 1.594 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.594 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.594 * [taylor]: Taking taylor expansion of -1 in delta 1.594 * [backup-simplify]: Simplify -1 into -1 1.594 * [taylor]: Taking taylor expansion of phi1 in delta 1.594 * [backup-simplify]: Simplify phi1 into phi1 1.595 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.595 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.595 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.595 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.595 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.595 * [taylor]: Taking taylor expansion of -1 in delta 1.595 * [backup-simplify]: Simplify -1 into -1 1.595 * [taylor]: Taking taylor expansion of delta in delta 1.595 * [backup-simplify]: Simplify 0 into 0 1.595 * [backup-simplify]: Simplify 1 into 1 1.595 * [backup-simplify]: Simplify (/ -1 1) into -1 1.595 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.595 * [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 1.595 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.595 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.595 * [taylor]: Taking taylor expansion of -1 in theta 1.595 * [backup-simplify]: Simplify -1 into -1 1.595 * [taylor]: Taking taylor expansion of phi1 in theta 1.596 * [backup-simplify]: Simplify phi1 into phi1 1.596 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.596 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.596 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.596 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 1.596 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.596 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 1.596 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.596 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.596 * [taylor]: Taking taylor expansion of -1 in theta 1.596 * [backup-simplify]: Simplify -1 into -1 1.596 * [taylor]: Taking taylor expansion of theta in theta 1.596 * [backup-simplify]: Simplify 0 into 0 1.596 * [backup-simplify]: Simplify 1 into 1 1.596 * [backup-simplify]: Simplify (/ -1 1) into -1 1.596 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.597 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 1.597 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.597 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.597 * [taylor]: Taking taylor expansion of -1 in theta 1.597 * [backup-simplify]: Simplify -1 into -1 1.597 * [taylor]: Taking taylor expansion of phi1 in theta 1.597 * [backup-simplify]: Simplify phi1 into phi1 1.597 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.597 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.597 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.597 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.597 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.597 * [taylor]: Taking taylor expansion of -1 in theta 1.597 * [backup-simplify]: Simplify -1 into -1 1.597 * [taylor]: Taking taylor expansion of delta in theta 1.597 * [backup-simplify]: Simplify delta into delta 1.597 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.597 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.597 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.597 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 1.597 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.597 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.597 * [taylor]: Taking taylor expansion of -1 in theta 1.597 * [backup-simplify]: Simplify -1 into -1 1.597 * [taylor]: Taking taylor expansion of phi1 in theta 1.597 * [backup-simplify]: Simplify phi1 into phi1 1.597 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.597 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.598 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.598 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.598 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.598 * [taylor]: Taking taylor expansion of -1 in theta 1.598 * [backup-simplify]: Simplify -1 into -1 1.598 * [taylor]: Taking taylor expansion of delta in theta 1.598 * [backup-simplify]: Simplify delta into delta 1.598 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.598 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.598 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.598 * [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 1.598 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.598 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.598 * [taylor]: Taking taylor expansion of -1 in phi1 1.598 * [backup-simplify]: Simplify -1 into -1 1.598 * [taylor]: Taking taylor expansion of phi1 in phi1 1.598 * [backup-simplify]: Simplify 0 into 0 1.598 * [backup-simplify]: Simplify 1 into 1 1.599 * [backup-simplify]: Simplify (/ -1 1) into -1 1.599 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.599 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 1.599 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.599 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 1.599 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.599 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.599 * [taylor]: Taking taylor expansion of -1 in phi1 1.599 * [backup-simplify]: Simplify -1 into -1 1.599 * [taylor]: Taking taylor expansion of theta in phi1 1.599 * [backup-simplify]: Simplify theta into theta 1.599 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.599 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.599 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.599 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 1.599 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.599 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.599 * [taylor]: Taking taylor expansion of -1 in phi1 1.599 * [backup-simplify]: Simplify -1 into -1 1.599 * [taylor]: Taking taylor expansion of phi1 in phi1 1.599 * [backup-simplify]: Simplify 0 into 0 1.599 * [backup-simplify]: Simplify 1 into 1 1.600 * [backup-simplify]: Simplify (/ -1 1) into -1 1.600 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.600 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.600 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.600 * [taylor]: Taking taylor expansion of -1 in phi1 1.600 * [backup-simplify]: Simplify -1 into -1 1.600 * [taylor]: Taking taylor expansion of delta in phi1 1.600 * [backup-simplify]: Simplify delta into delta 1.600 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.600 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.600 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.600 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 1.600 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.600 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.600 * [taylor]: Taking taylor expansion of -1 in phi1 1.600 * [backup-simplify]: Simplify -1 into -1 1.600 * [taylor]: Taking taylor expansion of phi1 in phi1 1.600 * [backup-simplify]: Simplify 0 into 0 1.600 * [backup-simplify]: Simplify 1 into 1 1.601 * [backup-simplify]: Simplify (/ -1 1) into -1 1.601 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.601 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.601 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.601 * [taylor]: Taking taylor expansion of -1 in phi1 1.601 * [backup-simplify]: Simplify -1 into -1 1.601 * [taylor]: Taking taylor expansion of delta in phi1 1.601 * [backup-simplify]: Simplify delta into delta 1.601 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.601 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.601 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.601 * [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 1.601 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.601 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.601 * [taylor]: Taking taylor expansion of -1 in phi1 1.602 * [backup-simplify]: Simplify -1 into -1 1.602 * [taylor]: Taking taylor expansion of phi1 in phi1 1.602 * [backup-simplify]: Simplify 0 into 0 1.602 * [backup-simplify]: Simplify 1 into 1 1.602 * [backup-simplify]: Simplify (/ -1 1) into -1 1.602 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.602 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 1.602 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 1.602 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 1.602 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.602 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.603 * [taylor]: Taking taylor expansion of -1 in phi1 1.603 * [backup-simplify]: Simplify -1 into -1 1.603 * [taylor]: Taking taylor expansion of theta in phi1 1.603 * [backup-simplify]: Simplify theta into theta 1.603 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.603 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.603 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.603 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 1.603 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.603 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.603 * [taylor]: Taking taylor expansion of -1 in phi1 1.603 * [backup-simplify]: Simplify -1 into -1 1.603 * [taylor]: Taking taylor expansion of phi1 in phi1 1.603 * [backup-simplify]: Simplify 0 into 0 1.603 * [backup-simplify]: Simplify 1 into 1 1.604 * [backup-simplify]: Simplify (/ -1 1) into -1 1.604 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.604 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.604 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.604 * [taylor]: Taking taylor expansion of -1 in phi1 1.604 * [backup-simplify]: Simplify -1 into -1 1.604 * [taylor]: Taking taylor expansion of delta in phi1 1.604 * [backup-simplify]: Simplify delta into delta 1.604 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.604 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.604 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.604 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 1.604 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.604 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.604 * [taylor]: Taking taylor expansion of -1 in phi1 1.604 * [backup-simplify]: Simplify -1 into -1 1.604 * [taylor]: Taking taylor expansion of phi1 in phi1 1.604 * [backup-simplify]: Simplify 0 into 0 1.604 * [backup-simplify]: Simplify 1 into 1 1.605 * [backup-simplify]: Simplify (/ -1 1) into -1 1.605 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.605 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.605 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.605 * [taylor]: Taking taylor expansion of -1 in phi1 1.605 * [backup-simplify]: Simplify -1 into -1 1.605 * [taylor]: Taking taylor expansion of delta in phi1 1.605 * [backup-simplify]: Simplify delta into delta 1.605 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.605 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.605 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.605 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.606 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.606 * [backup-simplify]: Simplify (- 0) into 0 1.606 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.606 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.606 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.606 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.606 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 1.607 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 1.607 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.607 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.607 * [backup-simplify]: Simplify (- 0) into 0 1.607 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.607 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 1.608 * [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)))) 1.608 * [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))))) 1.608 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 1.608 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.608 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.608 * [taylor]: Taking taylor expansion of -1 in theta 1.608 * [backup-simplify]: Simplify -1 into -1 1.608 * [taylor]: Taking taylor expansion of phi1 in theta 1.608 * [backup-simplify]: Simplify phi1 into phi1 1.608 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.608 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.608 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.608 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 1.608 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 1.608 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.609 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.609 * [taylor]: Taking taylor expansion of -1 in theta 1.609 * [backup-simplify]: Simplify -1 into -1 1.609 * [taylor]: Taking taylor expansion of phi1 in theta 1.609 * [backup-simplify]: Simplify phi1 into phi1 1.609 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.609 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.609 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.609 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 1.609 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.609 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.609 * [taylor]: Taking taylor expansion of -1 in theta 1.609 * [backup-simplify]: Simplify -1 into -1 1.609 * [taylor]: Taking taylor expansion of delta in theta 1.609 * [backup-simplify]: Simplify delta into delta 1.609 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.609 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.609 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.609 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.609 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.609 * [taylor]: Taking taylor expansion of -1 in theta 1.609 * [backup-simplify]: Simplify -1 into -1 1.609 * [taylor]: Taking taylor expansion of theta in theta 1.609 * [backup-simplify]: Simplify 0 into 0 1.609 * [backup-simplify]: Simplify 1 into 1 1.610 * [backup-simplify]: Simplify (/ -1 1) into -1 1.610 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.610 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 1.610 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.610 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.610 * [taylor]: Taking taylor expansion of -1 in theta 1.610 * [backup-simplify]: Simplify -1 into -1 1.610 * [taylor]: Taking taylor expansion of phi1 in theta 1.610 * [backup-simplify]: Simplify phi1 into phi1 1.610 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.610 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.610 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.610 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.610 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.611 * [taylor]: Taking taylor expansion of -1 in theta 1.611 * [backup-simplify]: Simplify -1 into -1 1.611 * [taylor]: Taking taylor expansion of delta in theta 1.611 * [backup-simplify]: Simplify delta into delta 1.611 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.611 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.611 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.611 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.611 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.611 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.611 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.611 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.612 * [backup-simplify]: Simplify (- 0) into 0 1.612 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.612 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.612 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.612 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.612 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 1.612 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 1.612 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.612 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.613 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.613 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.613 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.613 * [backup-simplify]: Simplify (- 0) into 0 1.613 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.613 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 1.614 * [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))))) 1.614 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.614 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 1.614 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.614 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.614 * [taylor]: Taking taylor expansion of -1 in delta 1.615 * [backup-simplify]: Simplify -1 into -1 1.615 * [taylor]: Taking taylor expansion of phi1 in delta 1.615 * [backup-simplify]: Simplify phi1 into phi1 1.615 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.615 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.615 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.615 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 1.615 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 1.615 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.615 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.615 * [taylor]: Taking taylor expansion of -1 in delta 1.615 * [backup-simplify]: Simplify -1 into -1 1.615 * [taylor]: Taking taylor expansion of phi1 in delta 1.615 * [backup-simplify]: Simplify phi1 into phi1 1.615 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.615 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.615 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.615 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.615 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.615 * [taylor]: Taking taylor expansion of -1 in delta 1.615 * [backup-simplify]: Simplify -1 into -1 1.615 * [taylor]: Taking taylor expansion of delta in delta 1.615 * [backup-simplify]: Simplify 0 into 0 1.615 * [backup-simplify]: Simplify 1 into 1 1.616 * [backup-simplify]: Simplify (/ -1 1) into -1 1.616 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.616 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 1.616 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.616 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.616 * [taylor]: Taking taylor expansion of -1 in delta 1.616 * [backup-simplify]: Simplify -1 into -1 1.616 * [taylor]: Taking taylor expansion of phi1 in delta 1.616 * [backup-simplify]: Simplify phi1 into phi1 1.616 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.616 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.616 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.616 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 1.616 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.616 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.616 * [taylor]: Taking taylor expansion of -1 in delta 1.616 * [backup-simplify]: Simplify -1 into -1 1.617 * [taylor]: Taking taylor expansion of theta in delta 1.617 * [backup-simplify]: Simplify theta into theta 1.617 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.617 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.617 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.617 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.617 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.617 * [taylor]: Taking taylor expansion of -1 in delta 1.617 * [backup-simplify]: Simplify -1 into -1 1.617 * [taylor]: Taking taylor expansion of delta in delta 1.617 * [backup-simplify]: Simplify 0 into 0 1.617 * [backup-simplify]: Simplify 1 into 1 1.617 * [backup-simplify]: Simplify (/ -1 1) into -1 1.617 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.618 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.618 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.618 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.618 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.618 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.618 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.618 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 1.618 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.618 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.619 * [backup-simplify]: Simplify (- 0) into 0 1.619 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.619 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.619 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.619 * [backup-simplify]: Simplify (- 0) into 0 1.619 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.620 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 1.620 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 1.620 * [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)))) 1.620 * [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))))) 1.621 * [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))))) 1.621 * [backup-simplify]: Simplify (+ 0) into 0 1.622 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.622 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.623 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.623 * [backup-simplify]: Simplify (+ 0 0) into 0 1.624 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.624 * [backup-simplify]: Simplify (+ 0) into 0 1.625 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.625 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.626 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.627 * [backup-simplify]: Simplify (- 0) into 0 1.627 * [backup-simplify]: Simplify (+ 0 0) into 0 1.627 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 1.628 * [backup-simplify]: Simplify (+ 0) into 0 1.628 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.628 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.630 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.630 * [backup-simplify]: Simplify (- 0) into 0 1.630 * [backup-simplify]: Simplify (+ 0 0) into 0 1.630 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 1.631 * [backup-simplify]: Simplify (+ 0 0) into 0 1.631 * [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 1.631 * [taylor]: Taking taylor expansion of 0 in theta 1.631 * [backup-simplify]: Simplify 0 into 0 1.631 * [taylor]: Taking taylor expansion of 0 in delta 1.631 * [backup-simplify]: Simplify 0 into 0 1.631 * [backup-simplify]: Simplify 0 into 0 1.632 * [backup-simplify]: Simplify (+ 0) into 0 1.632 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.632 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.634 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.634 * [backup-simplify]: Simplify (+ 0 0) into 0 1.634 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 1.635 * [backup-simplify]: Simplify (+ 0) into 0 1.635 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.635 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.636 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.637 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.637 * [backup-simplify]: Simplify (- 0) into 0 1.637 * [backup-simplify]: Simplify (+ 0 0) into 0 1.638 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 1.638 * [backup-simplify]: Simplify (+ 0) into 0 1.638 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.639 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.640 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.640 * [backup-simplify]: Simplify (- 0) into 0 1.641 * [backup-simplify]: Simplify (+ 0 0) into 0 1.641 * [backup-simplify]: Simplify (+ 0) into 0 1.642 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.643 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.644 * [backup-simplify]: Simplify (+ 0 0) into 0 1.644 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 1.644 * [backup-simplify]: Simplify (+ 0 0) into 0 1.645 * [backup-simplify]: Simplify (+ 0) into 0 1.645 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.647 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.647 * [backup-simplify]: Simplify (+ 0 0) into 0 1.648 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 1.648 * [taylor]: Taking taylor expansion of 0 in delta 1.648 * [backup-simplify]: Simplify 0 into 0 1.648 * [backup-simplify]: Simplify 0 into 0 1.648 * [backup-simplify]: Simplify (+ 0) into 0 1.649 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.649 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.650 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.650 * [backup-simplify]: Simplify (+ 0 0) into 0 1.650 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 1.651 * [backup-simplify]: Simplify (+ 0) into 0 1.651 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.651 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.653 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.653 * [backup-simplify]: Simplify (- 0) into 0 1.653 * [backup-simplify]: Simplify (+ 0 0) into 0 1.654 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.654 * [backup-simplify]: Simplify (+ 0) into 0 1.654 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.656 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.656 * [backup-simplify]: Simplify (- 0) into 0 1.657 * [backup-simplify]: Simplify (+ 0 0) into 0 1.657 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 1.657 * [backup-simplify]: Simplify (+ 0 0) into 0 1.658 * [backup-simplify]: Simplify (+ 0) into 0 1.658 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.658 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.659 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.660 * [backup-simplify]: Simplify (+ 0 0) into 0 1.660 * [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 1.660 * [backup-simplify]: Simplify 0 into 0 1.661 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.662 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.662 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.666 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.667 * [backup-simplify]: Simplify (+ 0 0) into 0 1.667 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 1.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.669 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.669 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.670 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.670 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.670 * [backup-simplify]: Simplify (- 0) into 0 1.671 * [backup-simplify]: Simplify (+ 0 0) into 0 1.671 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 1.672 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.673 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.673 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.674 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.675 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.676 * [backup-simplify]: Simplify (- 0) into 0 1.676 * [backup-simplify]: Simplify (+ 0 0) into 0 1.676 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.677 * [backup-simplify]: Simplify (+ 0 0) into 0 1.678 * [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 1.678 * [taylor]: Taking taylor expansion of 0 in theta 1.678 * [backup-simplify]: Simplify 0 into 0 1.678 * [taylor]: Taking taylor expansion of 0 in delta 1.678 * [backup-simplify]: Simplify 0 into 0 1.678 * [backup-simplify]: Simplify 0 into 0 1.678 * [taylor]: Taking taylor expansion of 0 in delta 1.678 * [backup-simplify]: Simplify 0 into 0 1.678 * [backup-simplify]: Simplify 0 into 0 1.679 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.680 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.680 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.681 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.681 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.682 * [backup-simplify]: Simplify (+ 0 0) into 0 1.682 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 1.683 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.684 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.684 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.685 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.686 * [backup-simplify]: Simplify (- 0) into 0 1.686 * [backup-simplify]: Simplify (+ 0 0) into 0 1.687 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 1.687 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.688 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.688 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.689 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.690 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.690 * [backup-simplify]: Simplify (- 0) into 0 1.691 * [backup-simplify]: Simplify (+ 0 0) into 0 1.692 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.692 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.694 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.695 * [backup-simplify]: Simplify (+ 0 0) into 0 1.695 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.696 * [backup-simplify]: Simplify (+ 0 0) into 0 1.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.697 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.698 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.699 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.699 * [backup-simplify]: Simplify (+ 0 0) into 0 1.700 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 1.700 * [taylor]: Taking taylor expansion of 0 in delta 1.700 * [backup-simplify]: Simplify 0 into 0 1.700 * [backup-simplify]: Simplify 0 into 0 1.701 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 1.701 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 2 2 1) 1.701 * [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)))) 1.701 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 1.702 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 1.702 * [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)))) 1.702 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 1.702 * [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)))) 1.702 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 1.702 * [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)))) 1.702 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 1.702 * [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)))) 1.702 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 1.703 * [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)))) 1.703 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 1.703 * [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)))) 1.703 * [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)))) 1.703 * [taylor]: Taking taylor expansion of 0 in phi1 1.703 * [backup-simplify]: Simplify 0 into 0 1.703 * [taylor]: Taking taylor expansion of 0 in delta 1.703 * [backup-simplify]: Simplify 0 into 0 1.703 * [backup-simplify]: Simplify 0 into 0 1.703 * [taylor]: Taking taylor expansion of 0 in delta 1.703 * [backup-simplify]: Simplify 0 into 0 1.703 * [backup-simplify]: Simplify 0 into 0 1.703 * [backup-simplify]: Simplify 0 into 0 1.703 * [taylor]: Taking taylor expansion of 0 in phi1 1.704 * [backup-simplify]: Simplify 0 into 0 1.704 * [taylor]: Taking taylor expansion of 0 in delta 1.704 * [backup-simplify]: Simplify 0 into 0 1.704 * [backup-simplify]: Simplify 0 into 0 1.704 * [taylor]: Taking taylor expansion of 0 in delta 1.704 * [backup-simplify]: Simplify 0 into 0 1.704 * [backup-simplify]: Simplify 0 into 0 1.704 * [taylor]: Taking taylor expansion of 0 in delta 1.704 * [backup-simplify]: Simplify 0 into 0 1.704 * [backup-simplify]: Simplify 0 into 0 1.704 * [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)))) 1.704 * [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))))) 1.704 * [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 1.704 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 1.705 * [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))))) 1.705 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 1.705 * [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))))) 1.705 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 1.705 * [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))))) 1.705 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 1.706 * [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))))) 1.706 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 1.706 * [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))))) 1.706 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 1.706 * [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))))) 1.707 * [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))))) 1.707 * [taylor]: Taking taylor expansion of 0 in phi1 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [taylor]: Taking taylor expansion of 0 in delta 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [taylor]: Taking taylor expansion of 0 in delta 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [taylor]: Taking taylor expansion of 0 in phi1 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [taylor]: Taking taylor expansion of 0 in delta 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [taylor]: Taking taylor expansion of 0 in delta 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [taylor]: Taking taylor expansion of 0 in delta 1.707 * [backup-simplify]: Simplify 0 into 0 1.707 * [backup-simplify]: Simplify 0 into 0 1.708 * [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)))) 1.708 * [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))))) 1.708 * [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 1.708 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 1.709 * [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))))) 1.709 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 1.709 * [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))))) 1.709 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 1.709 * [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))))) 1.709 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 1.709 * [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))))) 1.710 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 1.710 * [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))))) 1.710 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 1.710 * [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))))) 1.711 * [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))))) 1.711 * [taylor]: Taking taylor expansion of 0 in phi1 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [taylor]: Taking taylor expansion of 0 in delta 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [taylor]: Taking taylor expansion of 0 in delta 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [taylor]: Taking taylor expansion of 0 in phi1 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [taylor]: Taking taylor expansion of 0 in delta 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [taylor]: Taking taylor expansion of 0 in delta 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [taylor]: Taking taylor expansion of 0 in delta 1.711 * [backup-simplify]: Simplify 0 into 0 1.711 * [backup-simplify]: Simplify 0 into 0 1.712 * [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)))) 1.712 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 1) 1.712 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 1.712 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 1.712 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 1.712 * [taylor]: Taking taylor expansion of (sin delta) in theta 1.712 * [taylor]: Taking taylor expansion of delta in theta 1.712 * [backup-simplify]: Simplify delta into delta 1.712 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.712 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.712 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 1.712 * [taylor]: Taking taylor expansion of (cos phi1) in theta 1.712 * [taylor]: Taking taylor expansion of phi1 in theta 1.713 * [backup-simplify]: Simplify phi1 into phi1 1.713 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.713 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.713 * [taylor]: Taking taylor expansion of (sin theta) in theta 1.713 * [taylor]: Taking taylor expansion of theta in theta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 1 into 1 1.713 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 1.713 * [taylor]: Taking taylor expansion of (sin delta) in phi1 1.713 * [taylor]: Taking taylor expansion of delta in phi1 1.713 * [backup-simplify]: Simplify delta into delta 1.713 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.713 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.713 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 1.713 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.713 * [taylor]: Taking taylor expansion of phi1 in phi1 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 1 into 1 1.713 * [taylor]: Taking taylor expansion of (sin theta) in phi1 1.713 * [taylor]: Taking taylor expansion of theta in phi1 1.713 * [backup-simplify]: Simplify theta into theta 1.713 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.713 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.713 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 1.713 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.713 * [taylor]: Taking taylor expansion of delta in delta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 1 into 1 1.713 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 1.713 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.713 * [taylor]: Taking taylor expansion of phi1 in delta 1.713 * [backup-simplify]: Simplify phi1 into phi1 1.713 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.714 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.714 * [taylor]: Taking taylor expansion of (sin theta) in delta 1.714 * [taylor]: Taking taylor expansion of theta in delta 1.714 * [backup-simplify]: Simplify theta into theta 1.714 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.714 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.714 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 1.714 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.714 * [taylor]: Taking taylor expansion of delta in delta 1.714 * [backup-simplify]: Simplify 0 into 0 1.714 * [backup-simplify]: Simplify 1 into 1 1.714 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 1.714 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.714 * [taylor]: Taking taylor expansion of phi1 in delta 1.714 * [backup-simplify]: Simplify phi1 into phi1 1.714 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.714 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.714 * [taylor]: Taking taylor expansion of (sin theta) in delta 1.714 * [taylor]: Taking taylor expansion of theta in delta 1.714 * [backup-simplify]: Simplify theta into theta 1.714 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.714 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.714 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 1.714 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 1.715 * [backup-simplify]: Simplify (- 0) into 0 1.715 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 1.715 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 1.715 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 1.715 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 1.715 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 1.716 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 1.716 * [taylor]: Taking taylor expansion of 0 in phi1 1.716 * [backup-simplify]: Simplify 0 into 0 1.716 * [taylor]: Taking taylor expansion of 0 in theta 1.716 * [backup-simplify]: Simplify 0 into 0 1.716 * [backup-simplify]: Simplify 0 into 0 1.716 * [backup-simplify]: Simplify (+ 0) into 0 1.717 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 1.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.718 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 1.718 * [backup-simplify]: Simplify (+ 0 0) into 0 1.718 * [backup-simplify]: Simplify (+ 0) into 0 1.719 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 1.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.720 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 1.720 * [backup-simplify]: Simplify (- 0) into 0 1.721 * [backup-simplify]: Simplify (+ 0 0) into 0 1.721 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 1.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.722 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 1.722 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 1.722 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.722 * [taylor]: Taking taylor expansion of phi1 in phi1 1.722 * [backup-simplify]: Simplify 0 into 0 1.722 * [backup-simplify]: Simplify 1 into 1 1.722 * [taylor]: Taking taylor expansion of (sin theta) in phi1 1.722 * [taylor]: Taking taylor expansion of theta in phi1 1.722 * [backup-simplify]: Simplify theta into theta 1.722 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.722 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.722 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 1.722 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 1.722 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 1.722 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 1.722 * [taylor]: Taking taylor expansion of (sin theta) in theta 1.722 * [taylor]: Taking taylor expansion of theta in theta 1.722 * [backup-simplify]: Simplify 0 into 0 1.722 * [backup-simplify]: Simplify 1 into 1 1.722 * [backup-simplify]: Simplify 0 into 0 1.722 * [taylor]: Taking taylor expansion of 0 in theta 1.722 * [backup-simplify]: Simplify 0 into 0 1.722 * [backup-simplify]: Simplify 0 into 0 1.722 * [backup-simplify]: Simplify 0 into 0 1.723 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.723 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 1.724 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.724 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 1.724 * [backup-simplify]: Simplify (+ 0 0) into 0 1.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.725 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 1.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.726 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 1.726 * [backup-simplify]: Simplify (- 0) into 0 1.726 * [backup-simplify]: Simplify (+ 0 0) into 0 1.727 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 1.727 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.728 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 1.728 * [taylor]: Taking taylor expansion of 0 in phi1 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [taylor]: Taking taylor expansion of 0 in theta 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify (+ 0) into 0 1.728 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 1.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.729 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 1.729 * [backup-simplify]: Simplify (+ 0 0) into 0 1.730 * [backup-simplify]: Simplify (+ 0) into 0 1.730 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 1.730 * [taylor]: Taking taylor expansion of 0 in theta 1.730 * [backup-simplify]: Simplify 0 into 0 1.730 * [backup-simplify]: Simplify 0 into 0 1.730 * [backup-simplify]: Simplify 0 into 0 1.730 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 1.730 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 1.730 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 1.730 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.730 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.730 * [taylor]: Taking taylor expansion of phi1 in theta 1.730 * [backup-simplify]: Simplify phi1 into phi1 1.730 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.730 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.730 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.730 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 1.731 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 1.731 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.731 * [taylor]: Taking taylor expansion of theta in theta 1.731 * [backup-simplify]: Simplify 0 into 0 1.731 * [backup-simplify]: Simplify 1 into 1 1.731 * [backup-simplify]: Simplify (/ 1 1) into 1 1.731 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.731 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.731 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.731 * [taylor]: Taking taylor expansion of delta in theta 1.731 * [backup-simplify]: Simplify delta into delta 1.731 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.731 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.731 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.731 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 1.731 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.731 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.731 * [taylor]: Taking taylor expansion of phi1 in phi1 1.731 * [backup-simplify]: Simplify 0 into 0 1.731 * [backup-simplify]: Simplify 1 into 1 1.731 * [backup-simplify]: Simplify (/ 1 1) into 1 1.731 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.731 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 1.731 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 1.731 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.732 * [taylor]: Taking taylor expansion of theta in phi1 1.732 * [backup-simplify]: Simplify theta into theta 1.732 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.732 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.732 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.732 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.732 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.732 * [taylor]: Taking taylor expansion of delta in phi1 1.732 * [backup-simplify]: Simplify delta into delta 1.732 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.732 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.732 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.732 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 1.732 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.732 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.732 * [taylor]: Taking taylor expansion of phi1 in delta 1.732 * [backup-simplify]: Simplify phi1 into phi1 1.732 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.732 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.732 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.732 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 1.732 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 1.732 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.732 * [taylor]: Taking taylor expansion of theta in delta 1.732 * [backup-simplify]: Simplify theta into theta 1.732 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.732 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.732 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.732 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.732 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.732 * [taylor]: Taking taylor expansion of delta in delta 1.732 * [backup-simplify]: Simplify 0 into 0 1.732 * [backup-simplify]: Simplify 1 into 1 1.733 * [backup-simplify]: Simplify (/ 1 1) into 1 1.733 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.733 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 1.733 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.733 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.733 * [taylor]: Taking taylor expansion of phi1 in delta 1.733 * [backup-simplify]: Simplify phi1 into phi1 1.733 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.733 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.733 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.733 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 1.733 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 1.733 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.733 * [taylor]: Taking taylor expansion of theta in delta 1.733 * [backup-simplify]: Simplify theta into theta 1.733 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.733 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.733 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.733 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.733 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.733 * [taylor]: Taking taylor expansion of delta in delta 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [backup-simplify]: Simplify 1 into 1 1.733 * [backup-simplify]: Simplify (/ 1 1) into 1 1.733 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.733 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.734 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.734 * [backup-simplify]: Simplify (- 0) into 0 1.734 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.734 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 1.734 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 1.734 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 1.734 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 1.734 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 1.734 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 1.734 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.734 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.734 * [taylor]: Taking taylor expansion of delta in phi1 1.734 * [backup-simplify]: Simplify delta into delta 1.734 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.734 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.734 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.734 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 1.734 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 1.734 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.734 * [taylor]: Taking taylor expansion of theta in phi1 1.734 * [backup-simplify]: Simplify theta into theta 1.734 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.735 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.735 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.735 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.735 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.735 * [taylor]: Taking taylor expansion of phi1 in phi1 1.735 * [backup-simplify]: Simplify 0 into 0 1.735 * [backup-simplify]: Simplify 1 into 1 1.735 * [backup-simplify]: Simplify (/ 1 1) into 1 1.735 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.735 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.735 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.735 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.735 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 1.735 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 1.735 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 1.735 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 1.735 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 1.735 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 1.735 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.736 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.736 * [taylor]: Taking taylor expansion of phi1 in theta 1.736 * [backup-simplify]: Simplify phi1 into phi1 1.736 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.736 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.736 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.736 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 1.736 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 1.736 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.736 * [taylor]: Taking taylor expansion of theta in theta 1.736 * [backup-simplify]: Simplify 0 into 0 1.736 * [backup-simplify]: Simplify 1 into 1 1.736 * [backup-simplify]: Simplify (/ 1 1) into 1 1.736 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.736 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.736 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.736 * [taylor]: Taking taylor expansion of delta in theta 1.736 * [backup-simplify]: Simplify delta into delta 1.736 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.736 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.736 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.736 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.736 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.737 * [backup-simplify]: Simplify (- 0) into 0 1.737 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.737 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.737 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.737 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.737 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 1.737 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 1.737 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 1.737 * [backup-simplify]: Simplify (+ 0) into 0 1.738 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 1.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.738 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 1.739 * [backup-simplify]: Simplify (+ 0 0) into 0 1.739 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 1.739 * [backup-simplify]: Simplify (+ 0) into 0 1.739 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.739 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.740 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.740 * [backup-simplify]: Simplify (- 0) into 0 1.741 * [backup-simplify]: Simplify (+ 0 0) into 0 1.741 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 1.741 * [taylor]: Taking taylor expansion of 0 in phi1 1.741 * [backup-simplify]: Simplify 0 into 0 1.741 * [taylor]: Taking taylor expansion of 0 in theta 1.741 * [backup-simplify]: Simplify 0 into 0 1.741 * [backup-simplify]: Simplify 0 into 0 1.741 * [backup-simplify]: Simplify (+ 0) into 0 1.742 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 1.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.742 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 1.743 * [backup-simplify]: Simplify (+ 0 0) into 0 1.743 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 1.743 * [backup-simplify]: Simplify (+ 0) into 0 1.743 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.743 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.744 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.744 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.744 * [backup-simplify]: Simplify (+ 0 0) into 0 1.744 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 1.744 * [taylor]: Taking taylor expansion of 0 in theta 1.744 * [backup-simplify]: Simplify 0 into 0 1.744 * [backup-simplify]: Simplify 0 into 0 1.745 * [backup-simplify]: Simplify (+ 0) into 0 1.745 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.745 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.746 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.746 * [backup-simplify]: Simplify (+ 0 0) into 0 1.746 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 1.747 * [backup-simplify]: Simplify (+ 0) into 0 1.747 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.747 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.748 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.748 * [backup-simplify]: Simplify (- 0) into 0 1.748 * [backup-simplify]: Simplify (+ 0 0) into 0 1.749 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 1.749 * [backup-simplify]: Simplify 0 into 0 1.749 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.750 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.750 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.751 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.751 * [backup-simplify]: Simplify (+ 0 0) into 0 1.751 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 1.752 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.752 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.753 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.753 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.754 * [backup-simplify]: Simplify (- 0) into 0 1.754 * [backup-simplify]: Simplify (+ 0 0) into 0 1.754 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 1.754 * [taylor]: Taking taylor expansion of 0 in phi1 1.754 * [backup-simplify]: Simplify 0 into 0 1.754 * [taylor]: Taking taylor expansion of 0 in theta 1.754 * [backup-simplify]: Simplify 0 into 0 1.755 * [backup-simplify]: Simplify 0 into 0 1.755 * [taylor]: Taking taylor expansion of 0 in theta 1.755 * [backup-simplify]: Simplify 0 into 0 1.755 * [backup-simplify]: Simplify 0 into 0 1.755 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.756 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.756 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.756 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.757 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.757 * [backup-simplify]: Simplify (+ 0 0) into 0 1.757 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 1.758 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.758 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.758 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.759 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.759 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.759 * [backup-simplify]: Simplify (+ 0 0) into 0 1.760 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 1.760 * [taylor]: Taking taylor expansion of 0 in theta 1.760 * [backup-simplify]: Simplify 0 into 0 1.760 * [backup-simplify]: Simplify 0 into 0 1.760 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 1.760 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 1.760 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 1.760 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 1.760 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.760 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.760 * [taylor]: Taking taylor expansion of -1 in theta 1.760 * [backup-simplify]: Simplify -1 into -1 1.760 * [taylor]: Taking taylor expansion of phi1 in theta 1.760 * [backup-simplify]: Simplify phi1 into phi1 1.760 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.760 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.760 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.760 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 1.760 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 1.760 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.760 * [taylor]: Taking taylor expansion of -1 in theta 1.761 * [backup-simplify]: Simplify -1 into -1 1.761 * [taylor]: Taking taylor expansion of theta in theta 1.761 * [backup-simplify]: Simplify 0 into 0 1.761 * [backup-simplify]: Simplify 1 into 1 1.761 * [backup-simplify]: Simplify (/ -1 1) into -1 1.761 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.761 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.761 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.761 * [taylor]: Taking taylor expansion of -1 in theta 1.761 * [backup-simplify]: Simplify -1 into -1 1.761 * [taylor]: Taking taylor expansion of delta in theta 1.761 * [backup-simplify]: Simplify delta into delta 1.761 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.761 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.761 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.761 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 1.761 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.761 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.761 * [taylor]: Taking taylor expansion of -1 in phi1 1.761 * [backup-simplify]: Simplify -1 into -1 1.761 * [taylor]: Taking taylor expansion of phi1 in phi1 1.761 * [backup-simplify]: Simplify 0 into 0 1.761 * [backup-simplify]: Simplify 1 into 1 1.762 * [backup-simplify]: Simplify (/ -1 1) into -1 1.762 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.762 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 1.762 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 1.762 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.762 * [taylor]: Taking taylor expansion of -1 in phi1 1.762 * [backup-simplify]: Simplify -1 into -1 1.762 * [taylor]: Taking taylor expansion of theta in phi1 1.762 * [backup-simplify]: Simplify theta into theta 1.762 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.762 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.762 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.762 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.762 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.762 * [taylor]: Taking taylor expansion of -1 in phi1 1.762 * [backup-simplify]: Simplify -1 into -1 1.762 * [taylor]: Taking taylor expansion of delta in phi1 1.762 * [backup-simplify]: Simplify delta into delta 1.762 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.762 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.762 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.762 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 1.762 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.762 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.762 * [taylor]: Taking taylor expansion of -1 in delta 1.762 * [backup-simplify]: Simplify -1 into -1 1.762 * [taylor]: Taking taylor expansion of phi1 in delta 1.762 * [backup-simplify]: Simplify phi1 into phi1 1.762 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.762 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.762 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.762 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 1.762 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 1.762 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.762 * [taylor]: Taking taylor expansion of -1 in delta 1.762 * [backup-simplify]: Simplify -1 into -1 1.762 * [taylor]: Taking taylor expansion of theta in delta 1.762 * [backup-simplify]: Simplify theta into theta 1.762 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.762 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.762 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.762 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.762 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.762 * [taylor]: Taking taylor expansion of -1 in delta 1.763 * [backup-simplify]: Simplify -1 into -1 1.763 * [taylor]: Taking taylor expansion of delta in delta 1.763 * [backup-simplify]: Simplify 0 into 0 1.763 * [backup-simplify]: Simplify 1 into 1 1.763 * [backup-simplify]: Simplify (/ -1 1) into -1 1.763 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.763 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 1.763 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.763 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.763 * [taylor]: Taking taylor expansion of -1 in delta 1.763 * [backup-simplify]: Simplify -1 into -1 1.763 * [taylor]: Taking taylor expansion of phi1 in delta 1.763 * [backup-simplify]: Simplify phi1 into phi1 1.763 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.763 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.763 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.763 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 1.763 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 1.763 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.763 * [taylor]: Taking taylor expansion of -1 in delta 1.763 * [backup-simplify]: Simplify -1 into -1 1.763 * [taylor]: Taking taylor expansion of theta in delta 1.763 * [backup-simplify]: Simplify theta into theta 1.763 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.763 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.763 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.763 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.763 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.763 * [taylor]: Taking taylor expansion of -1 in delta 1.763 * [backup-simplify]: Simplify -1 into -1 1.763 * [taylor]: Taking taylor expansion of delta in delta 1.763 * [backup-simplify]: Simplify 0 into 0 1.763 * [backup-simplify]: Simplify 1 into 1 1.764 * [backup-simplify]: Simplify (/ -1 1) into -1 1.764 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.764 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.764 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.764 * [backup-simplify]: Simplify (- 0) into 0 1.764 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.764 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 1.764 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 1.764 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 1.765 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 1.765 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 1.765 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 1.765 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.765 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.765 * [taylor]: Taking taylor expansion of -1 in phi1 1.765 * [backup-simplify]: Simplify -1 into -1 1.765 * [taylor]: Taking taylor expansion of phi1 in phi1 1.765 * [backup-simplify]: Simplify 0 into 0 1.765 * [backup-simplify]: Simplify 1 into 1 1.765 * [backup-simplify]: Simplify (/ -1 1) into -1 1.765 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.765 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 1.765 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.765 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.765 * [taylor]: Taking taylor expansion of -1 in phi1 1.765 * [backup-simplify]: Simplify -1 into -1 1.765 * [taylor]: Taking taylor expansion of delta in phi1 1.765 * [backup-simplify]: Simplify delta into delta 1.765 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.765 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.765 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.765 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 1.765 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.765 * [taylor]: Taking taylor expansion of -1 in phi1 1.765 * [backup-simplify]: Simplify -1 into -1 1.765 * [taylor]: Taking taylor expansion of theta in phi1 1.765 * [backup-simplify]: Simplify theta into theta 1.765 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.766 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.766 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.766 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.766 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.766 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.766 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 1.766 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 1.766 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 1.766 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 1.766 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 1.766 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 1.766 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.766 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.766 * [taylor]: Taking taylor expansion of -1 in theta 1.766 * [backup-simplify]: Simplify -1 into -1 1.766 * [taylor]: Taking taylor expansion of phi1 in theta 1.766 * [backup-simplify]: Simplify phi1 into phi1 1.766 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.766 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.766 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.766 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 1.766 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 1.766 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.766 * [taylor]: Taking taylor expansion of -1 in theta 1.766 * [backup-simplify]: Simplify -1 into -1 1.766 * [taylor]: Taking taylor expansion of theta in theta 1.766 * [backup-simplify]: Simplify 0 into 0 1.766 * [backup-simplify]: Simplify 1 into 1 1.767 * [backup-simplify]: Simplify (/ -1 1) into -1 1.767 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.767 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.767 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.767 * [taylor]: Taking taylor expansion of -1 in theta 1.767 * [backup-simplify]: Simplify -1 into -1 1.767 * [taylor]: Taking taylor expansion of delta in theta 1.767 * [backup-simplify]: Simplify delta into delta 1.767 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.767 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.767 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.767 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.767 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.767 * [backup-simplify]: Simplify (- 0) into 0 1.767 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.767 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.767 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.768 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.768 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 1.768 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 1.768 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 1.768 * [backup-simplify]: Simplify (+ 0) into 0 1.768 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 1.768 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.769 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 1.769 * [backup-simplify]: Simplify (+ 0 0) into 0 1.770 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.770 * [backup-simplify]: Simplify (+ 0) into 0 1.770 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.771 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.771 * [backup-simplify]: Simplify (- 0) into 0 1.771 * [backup-simplify]: Simplify (+ 0 0) into 0 1.772 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 1.772 * [taylor]: Taking taylor expansion of 0 in phi1 1.772 * [backup-simplify]: Simplify 0 into 0 1.772 * [taylor]: Taking taylor expansion of 0 in theta 1.772 * [backup-simplify]: Simplify 0 into 0 1.772 * [backup-simplify]: Simplify 0 into 0 1.772 * [backup-simplify]: Simplify (+ 0) into 0 1.772 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 1.772 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.773 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 1.773 * [backup-simplify]: Simplify (+ 0 0) into 0 1.774 * [backup-simplify]: Simplify (+ 0) into 0 1.774 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.774 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.775 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.775 * [backup-simplify]: Simplify (+ 0 0) into 0 1.775 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 1.775 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 1.775 * [taylor]: Taking taylor expansion of 0 in theta 1.775 * [backup-simplify]: Simplify 0 into 0 1.775 * [backup-simplify]: Simplify 0 into 0 1.776 * [backup-simplify]: Simplify (+ 0) into 0 1.776 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.776 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.777 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.777 * [backup-simplify]: Simplify (+ 0 0) into 0 1.777 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.777 * [backup-simplify]: Simplify (+ 0) into 0 1.778 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.778 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.778 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.779 * [backup-simplify]: Simplify (- 0) into 0 1.779 * [backup-simplify]: Simplify (+ 0 0) into 0 1.779 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 1.779 * [backup-simplify]: Simplify 0 into 0 1.780 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.780 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.780 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.781 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.782 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.783 * [backup-simplify]: Simplify (+ 0 0) into 0 1.783 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 1.784 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.784 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.784 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.785 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.785 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.785 * [backup-simplify]: Simplify (- 0) into 0 1.785 * [backup-simplify]: Simplify (+ 0 0) into 0 1.786 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 1.786 * [taylor]: Taking taylor expansion of 0 in phi1 1.786 * [backup-simplify]: Simplify 0 into 0 1.786 * [taylor]: Taking taylor expansion of 0 in theta 1.786 * [backup-simplify]: Simplify 0 into 0 1.786 * [backup-simplify]: Simplify 0 into 0 1.786 * [taylor]: Taking taylor expansion of 0 in theta 1.786 * [backup-simplify]: Simplify 0 into 0 1.786 * [backup-simplify]: Simplify 0 into 0 1.787 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.787 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.787 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.788 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.788 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.788 * [backup-simplify]: Simplify (+ 0 0) into 0 1.789 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.789 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.789 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.790 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.790 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.790 * [backup-simplify]: Simplify (+ 0 0) into 0 1.791 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 1.791 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 1.791 * [taylor]: Taking taylor expansion of 0 in theta 1.791 * [backup-simplify]: Simplify 0 into 0 1.791 * [backup-simplify]: Simplify 0 into 0 1.791 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 1.791 * * * [progress]: simplifying candidates 1.791 * * * * [progress]: [ 1 / 87 ] simplifiying candidate # 1.791 * * * * [progress]: [ 2 / 87 ] simplifiying candidate # 1.791 * * * * [progress]: [ 3 / 87 ] simplifiying candidate # 1.791 * * * * [progress]: [ 4 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 5 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 6 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 7 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 8 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 9 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 10 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 11 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 12 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 13 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 14 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 15 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 16 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 17 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 18 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 19 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 20 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 21 / 87 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 1.792 * * * * [progress]: [ 22 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 23 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 24 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 25 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 26 / 87 ] simplifiying candidate # 1.792 * * * * [progress]: [ 27 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 28 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 29 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 30 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 31 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 32 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 33 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 34 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 35 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 36 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 37 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 38 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 39 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 40 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 41 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 42 / 87 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 1.793 * * * * [progress]: [ 43 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 44 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 45 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 46 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 47 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 48 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 49 / 87 ] simplifiying candidate # 1.793 * * * * [progress]: [ 50 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 51 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 52 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 53 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 54 / 87 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 1.794 * * * * [progress]: [ 55 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 56 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 57 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 58 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 59 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 60 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 61 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 62 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 63 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 64 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 65 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 66 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 67 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 68 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 69 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 70 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 71 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 72 / 87 ] simplifiying candidate # 1.794 * * * * [progress]: [ 73 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 74 / 87 ] simplifiying candidate #real (real->posit16 (* (sin delta) (* (cos phi1) (sin theta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1))> 1.795 * * * * [progress]: [ 75 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 76 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 77 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 78 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 79 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 80 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 81 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 82 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 83 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 84 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 85 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 86 / 87 ] simplifiying candidate # 1.795 * * * * [progress]: [ 87 / 87 ] simplifiying candidate # 1.796 * [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 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (log1p (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (+ (log (sin phi1)) (log (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (log (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (* (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (sqrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (sqrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sin phi1) (* (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (* (sin phi1) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sin phi1) 1) (* (cbrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sqrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (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 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(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)))))) (+ (* phi1 delta) (pow phi1 2)) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 0 (* (cos phi1) (* (sin theta) (sin delta))) (* (cos phi1) (* (sin delta) (sin theta))) 1.798 * * [simplify]: iteration 1: (170 enodes) 1.832 * * [simplify]: iteration 2: (376 enodes) 2.007 * * [simplify]: iteration 3: (998 enodes) 2.791 * * [simplify]: Extracting #0: cost 64 inf + 0 2.793 * * [simplify]: Extracting #1: cost 367 inf + 1 2.799 * * [simplify]: Extracting #2: cost 769 inf + 2816 2.822 * * [simplify]: Extracting #3: cost 509 inf + 66236 2.881 * * [simplify]: Extracting #4: cost 278 inf + 138875 2.928 * * [simplify]: Extracting #5: cost 134 inf + 233790 3.030 * * [simplify]: Extracting #6: cost 6 inf + 330865 3.121 * * [simplify]: Extracting #7: cost 0 inf + 335946 3.212 * [simplify]: Simplified to: (- (* (cbrt (cos delta)) (* (cbrt (cos delta)) (cbrt (cos delta)))) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (expm1 (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (log1p (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 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(sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (sqrt (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (sqrt (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (* (* (cbrt (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (sin phi1)) (cbrt (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sin phi1) (sqrt (sin (asin (fma (sin delta) (* (cos 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(sin delta) (sin theta)) (cos phi1))) (exp (* (* (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) (sin theta)) (cos phi1))) (* (cbrt (* (* (sin delta) (sin theta)) (cos phi1))) (cbrt (* (* (sin delta) (sin theta)) (cos phi1)))) (cbrt (* (* (sin delta) (sin theta)) (cos phi1))) (* (* (* (* (sin delta) (sin theta)) (cos phi1)) (* (* (sin delta) (sin theta)) (cos phi1))) (* (* (sin delta) (sin theta)) (cos phi1))) (sqrt (* (* (sin delta) (sin theta)) (cos phi1))) (sqrt (* (* (sin delta) (sin theta)) (cos phi1))) (* (cos phi1) (sin delta)) (* (* (cos phi1) (cbrt (sin delta))) (sin theta)) (* (* (sqrt (sin delta)) (cos phi1)) (sin theta)) (* (* (sin delta) (sin theta)) (cos phi1)) (real->posit16 (* (* (sin delta) (sin theta)) (cos phi1))) (- 1 (* delta (+ phi1 (* delta 1/2)))) (- (cos delta) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (- (cos delta) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* phi1 (+ delta phi1)) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 0 (* (* (sin delta) (sin theta)) (cos phi1)) (* (* (sin delta) (sin theta)) (cos phi1)) 3.223 * * * [progress]: adding candidates to table 5.157 * * [progress]: iteration 2 / 4 5.157 * * * [progress]: picking best candidate 5.335 * * * * [pick]: Picked # 5.335 * * * [progress]: localizing error 5.417 * * * [progress]: generating rewritten candidates 5.417 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 5.432 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 1 1) 5.440 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 1 1 2) 5.454 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 1 1 2 1 1) 5.455 * * * [progress]: generating series expansions 5.455 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 5.455 * [backup-simplify]: Simplify (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) into (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) 5.456 * [approximate]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in (delta phi1 theta) around 0 5.456 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in theta 5.456 * [taylor]: Taking taylor expansion of (cos delta) in theta 5.456 * [taylor]: Taking taylor expansion of delta in theta 5.456 * [backup-simplify]: Simplify delta into delta 5.456 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.456 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.456 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in theta 5.456 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 5.456 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.456 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 5.456 * [taylor]: Taking taylor expansion of (sin delta) in theta 5.456 * [taylor]: Taking taylor expansion of delta in theta 5.456 * [backup-simplify]: Simplify delta into delta 5.456 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.456 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.456 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 5.456 * [taylor]: Taking taylor expansion of (cos phi1) in theta 5.456 * [taylor]: Taking taylor expansion of phi1 in theta 5.456 * [backup-simplify]: Simplify phi1 into phi1 5.456 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.456 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.456 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.456 * [taylor]: Taking taylor expansion of theta in theta 5.456 * [backup-simplify]: Simplify 0 into 0 5.456 * [backup-simplify]: Simplify 1 into 1 5.456 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 5.456 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.456 * [taylor]: Taking taylor expansion of phi1 in theta 5.456 * [backup-simplify]: Simplify phi1 into phi1 5.456 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.456 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.456 * [taylor]: Taking taylor expansion of (cos delta) in theta 5.456 * [taylor]: Taking taylor expansion of delta in theta 5.456 * [backup-simplify]: Simplify delta into delta 5.456 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.456 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.456 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.456 * [taylor]: Taking taylor expansion of phi1 in theta 5.456 * [backup-simplify]: Simplify phi1 into phi1 5.456 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.456 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.456 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in phi1 5.456 * [taylor]: Taking taylor expansion of (cos delta) in phi1 5.456 * [taylor]: Taking taylor expansion of delta in phi1 5.456 * [backup-simplify]: Simplify delta into delta 5.457 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.457 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.457 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in phi1 5.457 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 5.457 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.457 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 5.457 * [taylor]: Taking taylor expansion of (sin delta) in phi1 5.457 * [taylor]: Taking taylor expansion of delta in phi1 5.457 * [backup-simplify]: Simplify delta into delta 5.457 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.457 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.457 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 5.457 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.457 * [taylor]: Taking taylor expansion of phi1 in phi1 5.457 * [backup-simplify]: Simplify 0 into 0 5.457 * [backup-simplify]: Simplify 1 into 1 5.457 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.457 * [taylor]: Taking taylor expansion of theta in phi1 5.457 * [backup-simplify]: Simplify theta into theta 5.457 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.457 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.457 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 5.457 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.457 * [taylor]: Taking taylor expansion of phi1 in phi1 5.457 * [backup-simplify]: Simplify 0 into 0 5.457 * [backup-simplify]: Simplify 1 into 1 5.457 * [taylor]: Taking taylor expansion of (cos delta) in phi1 5.457 * [taylor]: Taking taylor expansion of delta in phi1 5.457 * [backup-simplify]: Simplify delta into delta 5.457 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.458 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.458 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.458 * [taylor]: Taking taylor expansion of phi1 in phi1 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 1 into 1 5.458 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in delta 5.458 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.458 * [taylor]: Taking taylor expansion of delta in delta 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 1 into 1 5.458 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in delta 5.458 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 5.458 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.458 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 5.458 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.458 * [taylor]: Taking taylor expansion of delta in delta 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 1 into 1 5.458 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 5.458 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.458 * [taylor]: Taking taylor expansion of phi1 in delta 5.458 * [backup-simplify]: Simplify phi1 into phi1 5.458 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.458 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.458 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.458 * [taylor]: Taking taylor expansion of theta in delta 5.458 * [backup-simplify]: Simplify theta into theta 5.458 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.458 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.458 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 5.459 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.459 * [taylor]: Taking taylor expansion of phi1 in delta 5.459 * [backup-simplify]: Simplify phi1 into phi1 5.459 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.459 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.459 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.459 * [taylor]: Taking taylor expansion of delta in delta 5.459 * [backup-simplify]: Simplify 0 into 0 5.459 * [backup-simplify]: Simplify 1 into 1 5.459 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.459 * [taylor]: Taking taylor expansion of phi1 in delta 5.459 * [backup-simplify]: Simplify phi1 into phi1 5.459 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.459 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.459 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in delta 5.459 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.459 * [taylor]: Taking taylor expansion of delta in delta 5.459 * [backup-simplify]: Simplify 0 into 0 5.459 * [backup-simplify]: Simplify 1 into 1 5.459 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in delta 5.459 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 5.459 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.459 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 5.459 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.459 * [taylor]: Taking taylor expansion of delta in delta 5.459 * [backup-simplify]: Simplify 0 into 0 5.459 * [backup-simplify]: Simplify 1 into 1 5.459 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 5.459 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.459 * [taylor]: Taking taylor expansion of phi1 in delta 5.459 * [backup-simplify]: Simplify phi1 into phi1 5.460 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.460 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.460 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.460 * [taylor]: Taking taylor expansion of theta in delta 5.460 * [backup-simplify]: Simplify theta into theta 5.460 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.460 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.460 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 5.460 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.460 * [taylor]: Taking taylor expansion of phi1 in delta 5.460 * [backup-simplify]: Simplify phi1 into phi1 5.460 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.460 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.460 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.460 * [taylor]: Taking taylor expansion of delta in delta 5.460 * [backup-simplify]: Simplify 0 into 0 5.460 * [backup-simplify]: Simplify 1 into 1 5.460 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.460 * [taylor]: Taking taylor expansion of phi1 in delta 5.460 * [backup-simplify]: Simplify phi1 into phi1 5.460 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.460 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.460 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 5.460 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 5.461 * [backup-simplify]: Simplify (- 0) into 0 5.461 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 5.461 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.461 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.461 * [backup-simplify]: Simplify (- 0) into 0 5.462 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.462 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 5.462 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 5.462 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.462 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.462 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.462 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.462 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 5.462 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.462 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.462 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.462 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 5.462 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 5.462 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 5.462 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 5.462 * [taylor]: Taking taylor expansion of 1 in phi1 5.462 * [backup-simplify]: Simplify 1 into 1 5.462 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.462 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.462 * [taylor]: Taking taylor expansion of phi1 in phi1 5.462 * [backup-simplify]: Simplify 0 into 0 5.462 * [backup-simplify]: Simplify 1 into 1 5.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.463 * [backup-simplify]: Simplify (+ 1 0) into 1 5.463 * [taylor]: Taking taylor expansion of 1 in theta 5.463 * [backup-simplify]: Simplify 1 into 1 5.463 * [backup-simplify]: Simplify 1 into 1 5.464 * [backup-simplify]: Simplify (+ 0) into 0 5.464 * [backup-simplify]: Simplify (+ 0) into 0 5.464 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.465 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.465 * [backup-simplify]: Simplify (+ 0 0) into 0 5.466 * [backup-simplify]: Simplify (+ 0) into 0 5.466 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.467 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.467 * [backup-simplify]: Simplify (- 0) into 0 5.467 * [backup-simplify]: Simplify (+ 0 0) into 0 5.467 * [backup-simplify]: Simplify (+ 0) into 0 5.468 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 5.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.469 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 5.469 * [backup-simplify]: Simplify (- 0) into 0 5.469 * [backup-simplify]: Simplify (+ 0 0) into 0 5.469 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 5.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.470 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 5.470 * [backup-simplify]: Simplify (+ 0) into 0 5.470 * [backup-simplify]: Simplify (+ 0) into 0 5.471 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.472 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.472 * [backup-simplify]: Simplify (+ 0 0) into 0 5.472 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.472 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 5.472 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* (* (cos phi1) (cos theta)) (sin phi1))) into (* (cos phi1) (* (cos theta) (sin phi1))) 5.472 * [backup-simplify]: Simplify (- (* (cos phi1) (* (cos theta) (sin phi1)))) into (- (* (cos phi1) (* (cos theta) (sin phi1)))) 5.472 * [backup-simplify]: Simplify (+ 0 (- (* (cos phi1) (* (cos theta) (sin phi1))))) into (- (* (cos phi1) (* (cos theta) (sin phi1)))) 5.472 * [taylor]: Taking taylor expansion of (- (* (cos phi1) (* (cos theta) (sin phi1)))) in phi1 5.473 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin phi1))) in phi1 5.473 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.473 * [taylor]: Taking taylor expansion of phi1 in phi1 5.473 * [backup-simplify]: Simplify 0 into 0 5.473 * [backup-simplify]: Simplify 1 into 1 5.473 * [taylor]: Taking taylor expansion of (* (cos theta) (sin phi1)) in phi1 5.473 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.473 * [taylor]: Taking taylor expansion of theta in phi1 5.473 * [backup-simplify]: Simplify theta into theta 5.473 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.473 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.473 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.473 * [taylor]: Taking taylor expansion of phi1 in phi1 5.473 * [backup-simplify]: Simplify 0 into 0 5.473 * [backup-simplify]: Simplify 1 into 1 5.473 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.473 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.473 * [backup-simplify]: Simplify (- 0) into 0 5.473 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.473 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 5.473 * [backup-simplify]: Simplify (* 1 0) into 0 5.474 * [backup-simplify]: Simplify (- 0) into 0 5.474 * [taylor]: Taking taylor expansion of 0 in theta 5.474 * [backup-simplify]: Simplify 0 into 0 5.474 * [backup-simplify]: Simplify 0 into 0 5.474 * [backup-simplify]: Simplify (+ 0 0) into 0 5.474 * [taylor]: Taking taylor expansion of 0 in theta 5.474 * [backup-simplify]: Simplify 0 into 0 5.474 * [backup-simplify]: Simplify 0 into 0 5.474 * [backup-simplify]: Simplify 0 into 0 5.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 5.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.476 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.476 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.477 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.477 * [backup-simplify]: Simplify (+ 0 0) into 0 5.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.478 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 5.478 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.479 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 5.479 * [backup-simplify]: Simplify (- 0) into 0 5.479 * [backup-simplify]: Simplify (+ 0 0) into 0 5.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.480 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.481 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.481 * [backup-simplify]: Simplify (- 0) into 0 5.481 * [backup-simplify]: Simplify (+ 0 0) into 0 5.482 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 5.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.483 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 5.483 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 5.484 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.484 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.485 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.486 * [backup-simplify]: Simplify (+ 0 0) into 0 5.486 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 5.486 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 5.486 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* (* (cos phi1) (cos theta)) 0) (* (- (* 1/2 (sin phi1))) (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 5.486 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 5.487 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 5.487 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 5.487 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 5.487 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.487 * [backup-simplify]: Simplify 1/2 into 1/2 5.487 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.487 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.487 * [taylor]: Taking taylor expansion of phi1 in phi1 5.487 * [backup-simplify]: Simplify 0 into 0 5.487 * [backup-simplify]: Simplify 1 into 1 5.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.487 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.487 * [backup-simplify]: Simplify 1/2 into 1/2 5.488 * [backup-simplify]: Simplify (- 1/2) into -1/2 5.488 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 5.488 * [taylor]: Taking taylor expansion of -1/2 in theta 5.488 * [backup-simplify]: Simplify -1/2 into -1/2 5.488 * [backup-simplify]: Simplify -1/2 into -1/2 5.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.489 * [backup-simplify]: Simplify (+ 0) into 0 5.489 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.490 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.490 * [backup-simplify]: Simplify (- 0) into 0 5.491 * [backup-simplify]: Simplify (+ 0 0) into 0 5.491 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 5.491 * [backup-simplify]: Simplify (+ 0) into 0 5.491 * [backup-simplify]: Simplify (+ (* 1 (cos theta)) (* 0 0)) into (cos theta) 5.492 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 5.492 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 5.492 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.492 * [taylor]: Taking taylor expansion of theta in theta 5.492 * [backup-simplify]: Simplify 0 into 0 5.492 * [backup-simplify]: Simplify 1 into 1 5.492 * [backup-simplify]: Simplify (- 1) into -1 5.492 * [backup-simplify]: Simplify -1 into -1 5.492 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 5.492 * [backup-simplify]: Simplify (log (exp (- (cos (/ 1 delta)) (* (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))) (sin (/ 1 phi1)))))) into (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 5.492 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in (delta phi1 theta) around 0 5.492 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in theta 5.492 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.492 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.493 * [taylor]: Taking taylor expansion of delta in theta 5.493 * [backup-simplify]: Simplify delta into delta 5.493 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.493 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.493 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.493 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 5.493 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 5.493 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.493 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 5.493 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 5.493 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.493 * [taylor]: Taking taylor expansion of delta in theta 5.493 * [backup-simplify]: Simplify delta into delta 5.493 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.493 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.493 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.493 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 5.493 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 5.493 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 5.493 * [taylor]: Taking taylor expansion of theta in theta 5.493 * [backup-simplify]: Simplify 0 into 0 5.493 * [backup-simplify]: Simplify 1 into 1 5.493 * [backup-simplify]: Simplify (/ 1 1) into 1 5.493 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.493 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 5.493 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.493 * [taylor]: Taking taylor expansion of phi1 in theta 5.494 * [backup-simplify]: Simplify phi1 into phi1 5.494 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.494 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.494 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.494 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 5.494 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.494 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.494 * [taylor]: Taking taylor expansion of delta in theta 5.494 * [backup-simplify]: Simplify delta into delta 5.494 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.494 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.494 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.494 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.494 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.494 * [taylor]: Taking taylor expansion of phi1 in theta 5.494 * [backup-simplify]: Simplify phi1 into phi1 5.494 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.494 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.494 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.494 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.494 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.494 * [taylor]: Taking taylor expansion of phi1 in theta 5.494 * [backup-simplify]: Simplify phi1 into phi1 5.494 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.494 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.494 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.494 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 5.494 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.494 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.494 * [taylor]: Taking taylor expansion of delta in phi1 5.494 * [backup-simplify]: Simplify delta into delta 5.494 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.494 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.495 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.495 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 5.495 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 5.495 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.495 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 5.495 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 5.495 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.495 * [taylor]: Taking taylor expansion of delta in phi1 5.495 * [backup-simplify]: Simplify delta into delta 5.495 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.495 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.495 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.495 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 5.495 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 5.495 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 5.495 * [taylor]: Taking taylor expansion of theta in phi1 5.495 * [backup-simplify]: Simplify theta into theta 5.495 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.495 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.495 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.495 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 5.495 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.495 * [taylor]: Taking taylor expansion of phi1 in phi1 5.495 * [backup-simplify]: Simplify 0 into 0 5.495 * [backup-simplify]: Simplify 1 into 1 5.495 * [backup-simplify]: Simplify (/ 1 1) into 1 5.495 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.495 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 5.495 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.495 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.495 * [taylor]: Taking taylor expansion of delta in phi1 5.496 * [backup-simplify]: Simplify delta into delta 5.496 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.496 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.496 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.496 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.496 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.496 * [taylor]: Taking taylor expansion of phi1 in phi1 5.496 * [backup-simplify]: Simplify 0 into 0 5.496 * [backup-simplify]: Simplify 1 into 1 5.496 * [backup-simplify]: Simplify (/ 1 1) into 1 5.496 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.496 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.496 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.496 * [taylor]: Taking taylor expansion of phi1 in phi1 5.496 * [backup-simplify]: Simplify 0 into 0 5.496 * [backup-simplify]: Simplify 1 into 1 5.496 * [backup-simplify]: Simplify (/ 1 1) into 1 5.496 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.496 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 5.496 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.496 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.496 * [taylor]: Taking taylor expansion of delta in delta 5.497 * [backup-simplify]: Simplify 0 into 0 5.497 * [backup-simplify]: Simplify 1 into 1 5.497 * [backup-simplify]: Simplify (/ 1 1) into 1 5.497 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.497 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 5.497 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 5.497 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.497 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 5.497 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 5.497 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.497 * [taylor]: Taking taylor expansion of delta in delta 5.497 * [backup-simplify]: Simplify 0 into 0 5.497 * [backup-simplify]: Simplify 1 into 1 5.498 * [backup-simplify]: Simplify (/ 1 1) into 1 5.498 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.498 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 5.498 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 5.498 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 5.498 * [taylor]: Taking taylor expansion of theta in delta 5.498 * [backup-simplify]: Simplify theta into theta 5.498 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.498 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.498 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.498 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 5.498 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.498 * [taylor]: Taking taylor expansion of phi1 in delta 5.498 * [backup-simplify]: Simplify phi1 into phi1 5.498 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.498 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.498 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.498 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 5.498 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.498 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.499 * [taylor]: Taking taylor expansion of delta in delta 5.499 * [backup-simplify]: Simplify 0 into 0 5.499 * [backup-simplify]: Simplify 1 into 1 5.499 * [backup-simplify]: Simplify (/ 1 1) into 1 5.499 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.499 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.499 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.499 * [taylor]: Taking taylor expansion of phi1 in delta 5.499 * [backup-simplify]: Simplify phi1 into phi1 5.499 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.499 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.499 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.499 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.499 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.499 * [taylor]: Taking taylor expansion of phi1 in delta 5.499 * [backup-simplify]: Simplify phi1 into phi1 5.499 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.500 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.500 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.500 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 5.500 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.500 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.500 * [taylor]: Taking taylor expansion of delta in delta 5.500 * [backup-simplify]: Simplify 0 into 0 5.500 * [backup-simplify]: Simplify 1 into 1 5.500 * [backup-simplify]: Simplify (/ 1 1) into 1 5.500 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.500 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 5.500 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 5.500 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.500 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 5.500 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 5.500 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.500 * [taylor]: Taking taylor expansion of delta in delta 5.500 * [backup-simplify]: Simplify 0 into 0 5.501 * [backup-simplify]: Simplify 1 into 1 5.501 * [backup-simplify]: Simplify (/ 1 1) into 1 5.501 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.501 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 5.501 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 5.501 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 5.501 * [taylor]: Taking taylor expansion of theta in delta 5.501 * [backup-simplify]: Simplify theta into theta 5.501 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.501 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.501 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.501 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 5.501 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.501 * [taylor]: Taking taylor expansion of phi1 in delta 5.501 * [backup-simplify]: Simplify phi1 into phi1 5.501 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.502 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.502 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.502 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 5.502 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.502 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.502 * [taylor]: Taking taylor expansion of delta in delta 5.502 * [backup-simplify]: Simplify 0 into 0 5.502 * [backup-simplify]: Simplify 1 into 1 5.502 * [backup-simplify]: Simplify (/ 1 1) into 1 5.502 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.502 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.502 * [taylor]: Taking taylor expansion of phi1 in delta 5.503 * [backup-simplify]: Simplify phi1 into phi1 5.503 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.503 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.503 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.503 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.503 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.503 * [taylor]: Taking taylor expansion of phi1 in delta 5.503 * [backup-simplify]: Simplify phi1 into phi1 5.503 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.503 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.503 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.503 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 5.503 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 5.504 * [backup-simplify]: Simplify (- 0) into 0 5.504 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 5.504 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 5.504 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 5.504 * [backup-simplify]: Simplify (- 0) into 0 5.505 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 5.505 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 5.505 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 5.505 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.505 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.505 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.505 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 5.505 * [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))))) 5.506 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.506 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.506 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.506 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 5.507 * [backup-simplify]: Simplify (- (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.507 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.507 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) in phi1 5.507 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.507 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.508 * [taylor]: Taking taylor expansion of delta in phi1 5.508 * [backup-simplify]: Simplify delta into delta 5.508 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.508 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.508 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.508 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) in phi1 5.508 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 5.508 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 5.508 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.508 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.508 * [taylor]: Taking taylor expansion of phi1 in phi1 5.508 * [backup-simplify]: Simplify 0 into 0 5.508 * [backup-simplify]: Simplify 1 into 1 5.509 * [backup-simplify]: Simplify (/ 1 1) into 1 5.509 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.509 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.509 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.509 * [taylor]: Taking taylor expansion of delta in phi1 5.509 * [backup-simplify]: Simplify delta into delta 5.509 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.509 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.509 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.509 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 5.509 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 5.509 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.509 * [taylor]: Taking taylor expansion of phi1 in phi1 5.509 * [backup-simplify]: Simplify 0 into 0 5.509 * [backup-simplify]: Simplify 1 into 1 5.509 * [backup-simplify]: Simplify (/ 1 1) into 1 5.510 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.510 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 5.510 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.510 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.510 * [taylor]: Taking taylor expansion of phi1 in phi1 5.510 * [backup-simplify]: Simplify 0 into 0 5.510 * [backup-simplify]: Simplify 1 into 1 5.510 * [backup-simplify]: Simplify (/ 1 1) into 1 5.510 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.510 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 5.510 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 5.510 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 5.510 * [taylor]: Taking taylor expansion of theta in phi1 5.510 * [backup-simplify]: Simplify theta into theta 5.510 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.510 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.511 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.511 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 5.511 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.511 * [taylor]: Taking taylor expansion of delta in phi1 5.511 * [backup-simplify]: Simplify delta into delta 5.511 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.511 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.511 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.511 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.511 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.511 * [backup-simplify]: Simplify (- 0) into 0 5.511 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.512 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 5.512 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.512 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.512 * [backup-simplify]: Simplify (- 0) into 0 5.512 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.512 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 5.513 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 5.513 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 5.513 * [backup-simplify]: Simplify (- 0) into 0 5.513 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 5.513 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 5.513 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 5.513 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 5.513 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 5.514 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 5.514 * [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))))) 5.514 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 5.515 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 5.516 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 5.516 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 5.516 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.516 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.516 * [taylor]: Taking taylor expansion of delta in theta 5.516 * [backup-simplify]: Simplify delta into delta 5.516 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.516 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.516 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.516 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 5.516 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 5.516 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 5.516 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.516 * [taylor]: Taking taylor expansion of phi1 in theta 5.516 * [backup-simplify]: Simplify phi1 into phi1 5.516 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.516 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.516 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.516 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 5.516 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 5.516 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.516 * [taylor]: Taking taylor expansion of delta in theta 5.516 * [backup-simplify]: Simplify delta into delta 5.516 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.516 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.517 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.517 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 5.517 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 5.517 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 5.517 * [taylor]: Taking taylor expansion of theta in theta 5.517 * [backup-simplify]: Simplify 0 into 0 5.517 * [backup-simplify]: Simplify 1 into 1 5.517 * [backup-simplify]: Simplify (/ 1 1) into 1 5.517 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.517 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.517 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.517 * [taylor]: Taking taylor expansion of phi1 in theta 5.517 * [backup-simplify]: Simplify phi1 into phi1 5.518 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.518 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.518 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.518 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 5.518 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 5.518 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.518 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.518 * [taylor]: Taking taylor expansion of phi1 in theta 5.518 * [backup-simplify]: Simplify phi1 into phi1 5.518 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.518 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.518 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.518 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.518 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.518 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.518 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.518 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.518 * [taylor]: Taking taylor expansion of delta in theta 5.518 * [backup-simplify]: Simplify delta into delta 5.518 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.519 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.519 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.519 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.519 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.519 * [backup-simplify]: Simplify (- 0) into 0 5.520 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.520 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 5.520 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 5.520 * [backup-simplify]: Simplify (- 0) into 0 5.520 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 5.520 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 5.520 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 5.520 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 5.521 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.521 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.521 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.521 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 5.521 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 5.521 * [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))))) 5.521 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 5.522 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.522 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.522 * [backup-simplify]: Simplify (- 0) into 0 5.522 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.522 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 5.523 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 5.523 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.524 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.525 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (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))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 5.527 * [backup-simplify]: Simplify (+ 0) into 0 5.528 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.528 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.529 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.529 * [backup-simplify]: Simplify (+ 0 0) into 0 5.529 * [backup-simplify]: Simplify (+ 0) into 0 5.529 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 5.530 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.530 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 5.531 * [backup-simplify]: Simplify (- 0) into 0 5.531 * [backup-simplify]: Simplify (+ 0 0) into 0 5.531 * [backup-simplify]: Simplify (+ 0) into 0 5.531 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 5.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 5.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.532 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 5.532 * [backup-simplify]: Simplify (- 0) into 0 5.533 * [backup-simplify]: Simplify (+ 0 0) into 0 5.533 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 5.533 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 5.533 * [backup-simplify]: Simplify (+ 0) into 0 5.533 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.534 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.534 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.535 * [backup-simplify]: Simplify (+ 0 0) into 0 5.535 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.535 * [backup-simplify]: Simplify (+ 0 0) into 0 5.535 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.535 * [backup-simplify]: Simplify (- 0) into 0 5.536 * [backup-simplify]: Simplify (+ 0 0) into 0 5.536 * [taylor]: Taking taylor expansion of 0 in phi1 5.536 * [backup-simplify]: Simplify 0 into 0 5.536 * [taylor]: Taking taylor expansion of 0 in theta 5.536 * [backup-simplify]: Simplify 0 into 0 5.536 * [backup-simplify]: Simplify 0 into 0 5.536 * [backup-simplify]: Simplify (+ 0) into 0 5.536 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.537 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.537 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.538 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.538 * [backup-simplify]: Simplify (- 0) into 0 5.538 * [backup-simplify]: Simplify (+ 0 0) into 0 5.538 * [backup-simplify]: Simplify (+ 0) into 0 5.539 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.539 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.540 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.540 * [backup-simplify]: Simplify (- 0) into 0 5.540 * [backup-simplify]: Simplify (+ 0 0) into 0 5.540 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.540 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 5.541 * [backup-simplify]: Simplify (+ 0) into 0 5.541 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 5.541 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.542 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 5.542 * [backup-simplify]: Simplify (+ 0 0) into 0 5.543 * [backup-simplify]: Simplify (+ 0) into 0 5.543 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 5.543 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 5.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.544 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 5.544 * [backup-simplify]: Simplify (- 0) into 0 5.544 * [backup-simplify]: Simplify (+ 0 0) into 0 5.545 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 5.545 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 5.545 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 5.545 * [backup-simplify]: Simplify (+ 0 0) into 0 5.545 * [backup-simplify]: Simplify (- 0) into 0 5.546 * [backup-simplify]: Simplify (+ 0 0) into 0 5.546 * [taylor]: Taking taylor expansion of 0 in theta 5.546 * [backup-simplify]: Simplify 0 into 0 5.546 * [backup-simplify]: Simplify 0 into 0 5.546 * [backup-simplify]: Simplify (+ 0) into 0 5.546 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.546 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.547 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.547 * [backup-simplify]: Simplify (- 0) into 0 5.548 * [backup-simplify]: Simplify (+ 0 0) into 0 5.548 * [backup-simplify]: Simplify (+ 0) into 0 5.548 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.548 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.549 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.549 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.549 * [backup-simplify]: Simplify (+ 0 0) into 0 5.549 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.550 * [backup-simplify]: Simplify (+ 0) into 0 5.550 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 5.550 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.551 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 5.551 * [backup-simplify]: Simplify (+ 0 0) into 0 5.551 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 5.551 * [backup-simplify]: Simplify (+ 0) into 0 5.552 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 5.552 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.553 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 5.553 * [backup-simplify]: Simplify (- 0) into 0 5.553 * [backup-simplify]: Simplify (+ 0 0) into 0 5.553 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 5.554 * [backup-simplify]: Simplify (+ 0) into 0 5.554 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.554 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.555 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.555 * [backup-simplify]: Simplify (- 0) into 0 5.555 * [backup-simplify]: Simplify (+ 0 0) into 0 5.556 * [backup-simplify]: Simplify (+ 0) into 0 5.556 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.556 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.557 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.557 * [backup-simplify]: Simplify (+ 0 0) into 0 5.557 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.558 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 5.558 * [backup-simplify]: Simplify (+ 0 0) into 0 5.558 * [backup-simplify]: Simplify (- 0) into 0 5.559 * [backup-simplify]: Simplify (+ 0 0) into 0 5.559 * [backup-simplify]: Simplify 0 into 0 5.560 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.561 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.562 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.563 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.563 * [backup-simplify]: Simplify (+ 0 0) into 0 5.564 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.565 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.565 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.566 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.566 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.567 * [backup-simplify]: Simplify (- 0) into 0 5.567 * [backup-simplify]: Simplify (+ 0 0) into 0 5.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.569 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.569 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.570 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.571 * [backup-simplify]: Simplify (- 0) into 0 5.571 * [backup-simplify]: Simplify (+ 0 0) into 0 5.571 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 5.572 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 5.573 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.574 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.574 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.575 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.575 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.576 * [backup-simplify]: Simplify (+ 0 0) into 0 5.576 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 5.577 * [backup-simplify]: Simplify (+ 0 0) into 0 5.578 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 5.578 * [backup-simplify]: Simplify (- 0) into 0 5.578 * [backup-simplify]: Simplify (+ 0 0) into 0 5.578 * [taylor]: Taking taylor expansion of 0 in phi1 5.578 * [backup-simplify]: Simplify 0 into 0 5.578 * [taylor]: Taking taylor expansion of 0 in theta 5.578 * [backup-simplify]: Simplify 0 into 0 5.578 * [backup-simplify]: Simplify 0 into 0 5.579 * [taylor]: Taking taylor expansion of 0 in theta 5.579 * [backup-simplify]: Simplify 0 into 0 5.579 * [backup-simplify]: Simplify 0 into 0 5.580 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.580 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.581 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.581 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.582 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.582 * [backup-simplify]: Simplify (- 0) into 0 5.583 * [backup-simplify]: Simplify (+ 0 0) into 0 5.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.584 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.585 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.585 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.586 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.586 * [backup-simplify]: Simplify (- 0) into 0 5.587 * [backup-simplify]: Simplify (+ 0 0) into 0 5.587 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 5.588 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 5.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.589 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.589 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.590 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.590 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.590 * [backup-simplify]: Simplify (+ 0 0) into 0 5.591 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.591 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.591 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.592 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.592 * [backup-simplify]: Simplify (- 0) into 0 5.593 * [backup-simplify]: Simplify (+ 0 0) into 0 5.593 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 5.593 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 5.594 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 5.594 * [backup-simplify]: Simplify (+ 0 0) into 0 5.595 * [backup-simplify]: Simplify (- 0) into 0 5.595 * [backup-simplify]: Simplify (+ 0 0) into 0 5.595 * [taylor]: Taking taylor expansion of 0 in theta 5.595 * [backup-simplify]: Simplify 0 into 0 5.595 * [backup-simplify]: Simplify 0 into 0 5.595 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2)))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 5.596 * [backup-simplify]: Simplify (log (exp (- (cos (/ 1 (- delta))) (* (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))) (sin (/ 1 (- phi1))))))) into (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 5.596 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (delta phi1 theta) around 0 5.596 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 5.596 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.596 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.596 * [taylor]: Taking taylor expansion of -1 in theta 5.596 * [backup-simplify]: Simplify -1 into -1 5.596 * [taylor]: Taking taylor expansion of delta in theta 5.596 * [backup-simplify]: Simplify delta into delta 5.596 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.596 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.596 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.596 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 5.596 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.596 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.596 * [taylor]: Taking taylor expansion of -1 in theta 5.596 * [backup-simplify]: Simplify -1 into -1 5.596 * [taylor]: Taking taylor expansion of phi1 in theta 5.596 * [backup-simplify]: Simplify phi1 into phi1 5.596 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.596 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.596 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.596 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 5.596 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.596 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 5.596 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 5.596 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.596 * [taylor]: Taking taylor expansion of -1 in theta 5.596 * [backup-simplify]: Simplify -1 into -1 5.596 * [taylor]: Taking taylor expansion of delta in theta 5.596 * [backup-simplify]: Simplify delta into delta 5.596 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.596 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.596 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.596 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 5.597 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 5.597 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.597 * [taylor]: Taking taylor expansion of -1 in theta 5.597 * [backup-simplify]: Simplify -1 into -1 5.597 * [taylor]: Taking taylor expansion of phi1 in theta 5.597 * [backup-simplify]: Simplify phi1 into phi1 5.597 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.597 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.597 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.597 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 5.597 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 5.597 * [taylor]: Taking taylor expansion of -1 in theta 5.597 * [backup-simplify]: Simplify -1 into -1 5.597 * [taylor]: Taking taylor expansion of theta in theta 5.597 * [backup-simplify]: Simplify 0 into 0 5.597 * [backup-simplify]: Simplify 1 into 1 5.597 * [backup-simplify]: Simplify (/ -1 1) into -1 5.597 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.597 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 5.597 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.597 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.597 * [taylor]: Taking taylor expansion of -1 in theta 5.597 * [backup-simplify]: Simplify -1 into -1 5.597 * [taylor]: Taking taylor expansion of phi1 in theta 5.597 * [backup-simplify]: Simplify phi1 into phi1 5.597 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.598 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.598 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.598 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.598 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.598 * [taylor]: Taking taylor expansion of -1 in theta 5.598 * [backup-simplify]: Simplify -1 into -1 5.598 * [taylor]: Taking taylor expansion of delta in theta 5.598 * [backup-simplify]: Simplify delta into delta 5.598 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.598 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.598 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.598 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 5.598 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.598 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.598 * [taylor]: Taking taylor expansion of -1 in phi1 5.598 * [backup-simplify]: Simplify -1 into -1 5.598 * [taylor]: Taking taylor expansion of delta in phi1 5.598 * [backup-simplify]: Simplify delta into delta 5.598 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.598 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.598 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.598 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 5.598 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.598 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.598 * [taylor]: Taking taylor expansion of -1 in phi1 5.598 * [backup-simplify]: Simplify -1 into -1 5.598 * [taylor]: Taking taylor expansion of phi1 in phi1 5.598 * [backup-simplify]: Simplify 0 into 0 5.598 * [backup-simplify]: Simplify 1 into 1 5.598 * [backup-simplify]: Simplify (/ -1 1) into -1 5.599 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.599 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 5.599 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.599 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 5.599 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 5.599 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.599 * [taylor]: Taking taylor expansion of -1 in phi1 5.599 * [backup-simplify]: Simplify -1 into -1 5.599 * [taylor]: Taking taylor expansion of delta in phi1 5.599 * [backup-simplify]: Simplify delta into delta 5.599 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.599 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.599 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.599 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 5.599 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 5.599 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.599 * [taylor]: Taking taylor expansion of -1 in phi1 5.599 * [backup-simplify]: Simplify -1 into -1 5.599 * [taylor]: Taking taylor expansion of phi1 in phi1 5.599 * [backup-simplify]: Simplify 0 into 0 5.599 * [backup-simplify]: Simplify 1 into 1 5.599 * [backup-simplify]: Simplify (/ -1 1) into -1 5.599 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.599 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 5.599 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 5.599 * [taylor]: Taking taylor expansion of -1 in phi1 5.599 * [backup-simplify]: Simplify -1 into -1 5.599 * [taylor]: Taking taylor expansion of theta in phi1 5.599 * [backup-simplify]: Simplify theta into theta 5.599 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.599 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.600 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.600 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 5.600 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.600 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.600 * [taylor]: Taking taylor expansion of -1 in phi1 5.600 * [backup-simplify]: Simplify -1 into -1 5.600 * [taylor]: Taking taylor expansion of phi1 in phi1 5.600 * [backup-simplify]: Simplify 0 into 0 5.600 * [backup-simplify]: Simplify 1 into 1 5.600 * [backup-simplify]: Simplify (/ -1 1) into -1 5.600 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.600 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.600 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.600 * [taylor]: Taking taylor expansion of -1 in phi1 5.600 * [backup-simplify]: Simplify -1 into -1 5.600 * [taylor]: Taking taylor expansion of delta in phi1 5.600 * [backup-simplify]: Simplify delta into delta 5.600 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.600 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.600 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.600 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 5.600 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.600 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.600 * [taylor]: Taking taylor expansion of -1 in delta 5.600 * [backup-simplify]: Simplify -1 into -1 5.600 * [taylor]: Taking taylor expansion of delta in delta 5.600 * [backup-simplify]: Simplify 0 into 0 5.600 * [backup-simplify]: Simplify 1 into 1 5.601 * [backup-simplify]: Simplify (/ -1 1) into -1 5.601 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.601 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 5.601 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.601 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.601 * [taylor]: Taking taylor expansion of -1 in delta 5.601 * [backup-simplify]: Simplify -1 into -1 5.601 * [taylor]: Taking taylor expansion of phi1 in delta 5.601 * [backup-simplify]: Simplify phi1 into phi1 5.601 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.601 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.601 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.601 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 5.601 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.601 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 5.601 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 5.601 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.601 * [taylor]: Taking taylor expansion of -1 in delta 5.601 * [backup-simplify]: Simplify -1 into -1 5.601 * [taylor]: Taking taylor expansion of delta in delta 5.601 * [backup-simplify]: Simplify 0 into 0 5.601 * [backup-simplify]: Simplify 1 into 1 5.601 * [backup-simplify]: Simplify (/ -1 1) into -1 5.601 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.601 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 5.601 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 5.601 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.601 * [taylor]: Taking taylor expansion of -1 in delta 5.601 * [backup-simplify]: Simplify -1 into -1 5.601 * [taylor]: Taking taylor expansion of phi1 in delta 5.601 * [backup-simplify]: Simplify phi1 into phi1 5.602 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.602 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.602 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.602 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 5.602 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 5.602 * [taylor]: Taking taylor expansion of -1 in delta 5.602 * [backup-simplify]: Simplify -1 into -1 5.602 * [taylor]: Taking taylor expansion of theta in delta 5.602 * [backup-simplify]: Simplify theta into theta 5.602 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.602 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.602 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.602 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 5.602 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.602 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.602 * [taylor]: Taking taylor expansion of -1 in delta 5.602 * [backup-simplify]: Simplify -1 into -1 5.602 * [taylor]: Taking taylor expansion of phi1 in delta 5.602 * [backup-simplify]: Simplify phi1 into phi1 5.602 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.602 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.602 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.602 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.602 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.602 * [taylor]: Taking taylor expansion of -1 in delta 5.602 * [backup-simplify]: Simplify -1 into -1 5.602 * [taylor]: Taking taylor expansion of delta in delta 5.602 * [backup-simplify]: Simplify 0 into 0 5.602 * [backup-simplify]: Simplify 1 into 1 5.602 * [backup-simplify]: Simplify (/ -1 1) into -1 5.602 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.602 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 5.603 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.603 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.603 * [taylor]: Taking taylor expansion of -1 in delta 5.603 * [backup-simplify]: Simplify -1 into -1 5.603 * [taylor]: Taking taylor expansion of delta in delta 5.603 * [backup-simplify]: Simplify 0 into 0 5.603 * [backup-simplify]: Simplify 1 into 1 5.603 * [backup-simplify]: Simplify (/ -1 1) into -1 5.603 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.603 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 5.603 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.603 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.603 * [taylor]: Taking taylor expansion of -1 in delta 5.603 * [backup-simplify]: Simplify -1 into -1 5.603 * [taylor]: Taking taylor expansion of phi1 in delta 5.603 * [backup-simplify]: Simplify phi1 into phi1 5.603 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.603 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.603 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.603 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 5.603 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.603 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 5.603 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 5.603 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.603 * [taylor]: Taking taylor expansion of -1 in delta 5.603 * [backup-simplify]: Simplify -1 into -1 5.603 * [taylor]: Taking taylor expansion of delta in delta 5.603 * [backup-simplify]: Simplify 0 into 0 5.603 * [backup-simplify]: Simplify 1 into 1 5.604 * [backup-simplify]: Simplify (/ -1 1) into -1 5.604 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.604 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 5.604 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 5.604 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.604 * [taylor]: Taking taylor expansion of -1 in delta 5.604 * [backup-simplify]: Simplify -1 into -1 5.604 * [taylor]: Taking taylor expansion of phi1 in delta 5.604 * [backup-simplify]: Simplify phi1 into phi1 5.604 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.604 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.604 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.604 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 5.604 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 5.604 * [taylor]: Taking taylor expansion of -1 in delta 5.604 * [backup-simplify]: Simplify -1 into -1 5.604 * [taylor]: Taking taylor expansion of theta in delta 5.604 * [backup-simplify]: Simplify theta into theta 5.604 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.604 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.604 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.605 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 5.605 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.605 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.605 * [taylor]: Taking taylor expansion of -1 in delta 5.605 * [backup-simplify]: Simplify -1 into -1 5.605 * [taylor]: Taking taylor expansion of phi1 in delta 5.605 * [backup-simplify]: Simplify phi1 into phi1 5.605 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.605 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.605 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.605 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.605 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.605 * [taylor]: Taking taylor expansion of -1 in delta 5.605 * [backup-simplify]: Simplify -1 into -1 5.605 * [taylor]: Taking taylor expansion of delta in delta 5.605 * [backup-simplify]: Simplify 0 into 0 5.605 * [backup-simplify]: Simplify 1 into 1 5.605 * [backup-simplify]: Simplify (/ -1 1) into -1 5.605 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.605 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.605 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.605 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.605 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 5.606 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 5.606 * [backup-simplify]: Simplify (- 0) into 0 5.606 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 5.606 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 5.606 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 5.606 * [backup-simplify]: Simplify (- 0) into 0 5.606 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 5.606 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 5.606 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 5.607 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.607 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.607 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.607 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 5.607 * [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))))) 5.607 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 5.607 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.608 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.608 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 5.608 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.608 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.608 * [taylor]: Taking taylor expansion of -1 in phi1 5.608 * [backup-simplify]: Simplify -1 into -1 5.608 * [taylor]: Taking taylor expansion of delta in phi1 5.608 * [backup-simplify]: Simplify delta into delta 5.608 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.608 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.608 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.608 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 5.608 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 5.608 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 5.608 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.608 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.608 * [taylor]: Taking taylor expansion of -1 in phi1 5.608 * [backup-simplify]: Simplify -1 into -1 5.608 * [taylor]: Taking taylor expansion of phi1 in phi1 5.608 * [backup-simplify]: Simplify 0 into 0 5.608 * [backup-simplify]: Simplify 1 into 1 5.609 * [backup-simplify]: Simplify (/ -1 1) into -1 5.609 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.609 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.609 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.609 * [taylor]: Taking taylor expansion of -1 in phi1 5.609 * [backup-simplify]: Simplify -1 into -1 5.609 * [taylor]: Taking taylor expansion of delta in phi1 5.609 * [backup-simplify]: Simplify delta into delta 5.609 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.609 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.609 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.609 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 5.609 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.609 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.609 * [taylor]: Taking taylor expansion of -1 in phi1 5.609 * [backup-simplify]: Simplify -1 into -1 5.609 * [taylor]: Taking taylor expansion of phi1 in phi1 5.609 * [backup-simplify]: Simplify 0 into 0 5.609 * [backup-simplify]: Simplify 1 into 1 5.609 * [backup-simplify]: Simplify (/ -1 1) into -1 5.609 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.609 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 5.609 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 5.609 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.609 * [taylor]: Taking taylor expansion of -1 in phi1 5.609 * [backup-simplify]: Simplify -1 into -1 5.609 * [taylor]: Taking taylor expansion of delta in phi1 5.609 * [backup-simplify]: Simplify delta into delta 5.609 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.610 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.610 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.610 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 5.610 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 5.610 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 5.610 * [taylor]: Taking taylor expansion of -1 in phi1 5.610 * [backup-simplify]: Simplify -1 into -1 5.610 * [taylor]: Taking taylor expansion of theta in phi1 5.610 * [backup-simplify]: Simplify theta into theta 5.610 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.610 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.610 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.610 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 5.610 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.610 * [taylor]: Taking taylor expansion of -1 in phi1 5.610 * [backup-simplify]: Simplify -1 into -1 5.610 * [taylor]: Taking taylor expansion of phi1 in phi1 5.610 * [backup-simplify]: Simplify 0 into 0 5.610 * [backup-simplify]: Simplify 1 into 1 5.610 * [backup-simplify]: Simplify (/ -1 1) into -1 5.610 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.610 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.610 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.611 * [backup-simplify]: Simplify (- 0) into 0 5.611 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.611 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 5.611 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.611 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.611 * [backup-simplify]: Simplify (- 0) into 0 5.611 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.611 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 5.611 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 5.611 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 5.611 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 5.611 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 5.612 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 5.612 * [backup-simplify]: Simplify (- 0) into 0 5.612 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 5.612 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 5.612 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 5.612 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 5.612 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 5.613 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.613 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.613 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 5.613 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.613 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.613 * [taylor]: Taking taylor expansion of -1 in theta 5.613 * [backup-simplify]: Simplify -1 into -1 5.613 * [taylor]: Taking taylor expansion of delta in theta 5.613 * [backup-simplify]: Simplify delta into delta 5.613 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.613 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.613 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.613 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 5.613 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 5.613 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 5.614 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.614 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.614 * [taylor]: Taking taylor expansion of -1 in theta 5.614 * [backup-simplify]: Simplify -1 into -1 5.614 * [taylor]: Taking taylor expansion of phi1 in theta 5.614 * [backup-simplify]: Simplify phi1 into phi1 5.614 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.614 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.614 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.614 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.614 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.614 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.614 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.614 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.614 * [taylor]: Taking taylor expansion of -1 in theta 5.614 * [backup-simplify]: Simplify -1 into -1 5.614 * [taylor]: Taking taylor expansion of delta in theta 5.614 * [backup-simplify]: Simplify delta into delta 5.614 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.614 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.614 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.614 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 5.614 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.614 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.614 * [taylor]: Taking taylor expansion of -1 in theta 5.614 * [backup-simplify]: Simplify -1 into -1 5.614 * [taylor]: Taking taylor expansion of phi1 in theta 5.614 * [backup-simplify]: Simplify phi1 into phi1 5.614 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.614 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.614 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.614 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 5.614 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 5.614 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.614 * [taylor]: Taking taylor expansion of -1 in theta 5.614 * [backup-simplify]: Simplify -1 into -1 5.614 * [taylor]: Taking taylor expansion of delta in theta 5.614 * [backup-simplify]: Simplify delta into delta 5.614 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.614 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.615 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.615 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 5.615 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 5.615 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 5.615 * [taylor]: Taking taylor expansion of -1 in theta 5.615 * [backup-simplify]: Simplify -1 into -1 5.615 * [taylor]: Taking taylor expansion of theta in theta 5.615 * [backup-simplify]: Simplify 0 into 0 5.615 * [backup-simplify]: Simplify 1 into 1 5.615 * [backup-simplify]: Simplify (/ -1 1) into -1 5.615 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.615 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 5.615 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.615 * [taylor]: Taking taylor expansion of -1 in theta 5.615 * [backup-simplify]: Simplify -1 into -1 5.615 * [taylor]: Taking taylor expansion of phi1 in theta 5.615 * [backup-simplify]: Simplify phi1 into phi1 5.615 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.615 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.615 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.615 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.615 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.616 * [backup-simplify]: Simplify (- 0) into 0 5.616 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.616 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 5.616 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.616 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.616 * [backup-simplify]: Simplify (- 0) into 0 5.616 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.616 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 5.616 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.616 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.617 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.617 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 5.617 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 5.617 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 5.617 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 5.617 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 5.617 * [backup-simplify]: Simplify (- 0) into 0 5.617 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 5.617 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 5.617 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 5.617 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 5.618 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 5.618 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.618 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.619 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.619 * [backup-simplify]: Simplify (+ 0) into 0 5.619 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 5.620 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 5.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.620 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 5.621 * [backup-simplify]: Simplify (- 0) into 0 5.621 * [backup-simplify]: Simplify (+ 0 0) into 0 5.621 * [backup-simplify]: Simplify (+ 0) into 0 5.621 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 5.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.622 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 5.622 * [backup-simplify]: Simplify (- 0) into 0 5.623 * [backup-simplify]: Simplify (+ 0 0) into 0 5.623 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 5.623 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 5.623 * [backup-simplify]: Simplify (+ 0) into 0 5.624 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.624 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.624 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.624 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.625 * [backup-simplify]: Simplify (+ 0 0) into 0 5.625 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 5.625 * [backup-simplify]: Simplify (+ 0 0) into 0 5.626 * [backup-simplify]: Simplify (+ 0) into 0 5.626 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.626 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.627 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.627 * [backup-simplify]: Simplify (+ 0 0) into 0 5.628 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 5.628 * [backup-simplify]: Simplify (- 0) into 0 5.628 * [backup-simplify]: Simplify (+ 0 0) into 0 5.628 * [taylor]: Taking taylor expansion of 0 in phi1 5.628 * [backup-simplify]: Simplify 0 into 0 5.628 * [taylor]: Taking taylor expansion of 0 in theta 5.628 * [backup-simplify]: Simplify 0 into 0 5.628 * [backup-simplify]: Simplify 0 into 0 5.629 * [backup-simplify]: Simplify (+ 0) into 0 5.629 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.629 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.630 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.630 * [backup-simplify]: Simplify (- 0) into 0 5.630 * [backup-simplify]: Simplify (+ 0 0) into 0 5.631 * [backup-simplify]: Simplify (+ 0) into 0 5.632 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.632 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.633 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.633 * [backup-simplify]: Simplify (- 0) into 0 5.633 * [backup-simplify]: Simplify (+ 0 0) into 0 5.633 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 5.633 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 5.634 * [backup-simplify]: Simplify (+ 0) into 0 5.634 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 5.634 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 5.635 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.635 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 5.636 * [backup-simplify]: Simplify (- 0) into 0 5.636 * [backup-simplify]: Simplify (+ 0 0) into 0 5.636 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 5.638 * [backup-simplify]: Simplify (+ 0) into 0 5.639 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 5.639 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.640 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 5.640 * [backup-simplify]: Simplify (+ 0 0) into 0 5.640 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 5.640 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 5.640 * [backup-simplify]: Simplify (+ 0 0) into 0 5.641 * [backup-simplify]: Simplify (- 0) into 0 5.641 * [backup-simplify]: Simplify (+ 0 0) into 0 5.641 * [taylor]: Taking taylor expansion of 0 in theta 5.641 * [backup-simplify]: Simplify 0 into 0 5.641 * [backup-simplify]: Simplify 0 into 0 5.641 * [backup-simplify]: Simplify (+ 0) into 0 5.642 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.642 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.643 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.643 * [backup-simplify]: Simplify (- 0) into 0 5.643 * [backup-simplify]: Simplify (+ 0 0) into 0 5.643 * [backup-simplify]: Simplify (+ 0) into 0 5.644 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.644 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.645 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.645 * [backup-simplify]: Simplify (- 0) into 0 5.645 * [backup-simplify]: Simplify (+ 0 0) into 0 5.645 * [backup-simplify]: Simplify (+ 0) into 0 5.646 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.647 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.647 * [backup-simplify]: Simplify (+ 0 0) into 0 5.647 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 5.647 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 5.647 * [backup-simplify]: Simplify (+ 0) into 0 5.648 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 5.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.649 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 5.649 * [backup-simplify]: Simplify (- 0) into 0 5.649 * [backup-simplify]: Simplify (+ 0 0) into 0 5.649 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 5.649 * [backup-simplify]: Simplify (+ 0) into 0 5.650 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 5.650 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.651 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 5.651 * [backup-simplify]: Simplify (+ 0 0) into 0 5.651 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 5.651 * [backup-simplify]: Simplify (+ 0) into 0 5.651 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.652 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.653 * [backup-simplify]: Simplify (+ 0 0) into 0 5.653 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 5.653 * [backup-simplify]: Simplify (+ 0 0) into 0 5.653 * [backup-simplify]: Simplify (- 0) into 0 5.653 * [backup-simplify]: Simplify (+ 0 0) into 0 5.653 * [backup-simplify]: Simplify 0 into 0 5.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.655 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.655 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.655 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.656 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.656 * [backup-simplify]: Simplify (- 0) into 0 5.656 * [backup-simplify]: Simplify (+ 0 0) into 0 5.657 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.657 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.657 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.658 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.658 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.658 * [backup-simplify]: Simplify (- 0) into 0 5.658 * [backup-simplify]: Simplify (+ 0 0) into 0 5.659 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 5.659 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 5.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.660 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.660 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.661 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.661 * [backup-simplify]: Simplify (+ 0 0) into 0 5.662 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 5.662 * [backup-simplify]: Simplify (+ 0 0) into 0 5.663 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.663 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.663 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.664 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.664 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.664 * [backup-simplify]: Simplify (+ 0 0) into 0 5.665 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 5.665 * [backup-simplify]: Simplify (- 0) into 0 5.665 * [backup-simplify]: Simplify (+ 0 0) into 0 5.665 * [taylor]: Taking taylor expansion of 0 in phi1 5.665 * [backup-simplify]: Simplify 0 into 0 5.665 * [taylor]: Taking taylor expansion of 0 in theta 5.665 * [backup-simplify]: Simplify 0 into 0 5.665 * [backup-simplify]: Simplify 0 into 0 5.665 * [taylor]: Taking taylor expansion of 0 in theta 5.665 * [backup-simplify]: Simplify 0 into 0 5.665 * [backup-simplify]: Simplify 0 into 0 5.666 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.666 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.667 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.667 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.667 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.668 * [backup-simplify]: Simplify (- 0) into 0 5.668 * [backup-simplify]: Simplify (+ 0 0) into 0 5.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.669 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.669 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.670 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.670 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.670 * [backup-simplify]: Simplify (- 0) into 0 5.670 * [backup-simplify]: Simplify (+ 0 0) into 0 5.671 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 5.671 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 5.672 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.672 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.672 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.673 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.673 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.673 * [backup-simplify]: Simplify (- 0) into 0 5.674 * [backup-simplify]: Simplify (+ 0 0) into 0 5.674 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 5.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.675 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.675 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.676 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.677 * [backup-simplify]: Simplify (+ 0 0) into 0 5.677 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 5.678 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 5.678 * [backup-simplify]: Simplify (+ 0 0) into 0 5.679 * [backup-simplify]: Simplify (- 0) into 0 5.679 * [backup-simplify]: Simplify (+ 0 0) into 0 5.679 * [taylor]: Taking taylor expansion of 0 in theta 5.679 * [backup-simplify]: Simplify 0 into 0 5.679 * [backup-simplify]: Simplify 0 into 0 5.680 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 5.680 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 1 1) 5.680 * [backup-simplify]: Simplify (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) into (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) 5.680 * [approximate]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in (delta phi1 theta) around 0 5.680 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in theta 5.680 * [taylor]: Taking taylor expansion of (cos delta) in theta 5.680 * [taylor]: Taking taylor expansion of delta in theta 5.680 * [backup-simplify]: Simplify delta into delta 5.680 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.681 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.681 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in theta 5.681 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 5.681 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.681 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 5.681 * [taylor]: Taking taylor expansion of (sin delta) in theta 5.681 * [taylor]: Taking taylor expansion of delta in theta 5.681 * [backup-simplify]: Simplify delta into delta 5.681 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.681 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.681 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 5.681 * [taylor]: Taking taylor expansion of (cos phi1) in theta 5.681 * [taylor]: Taking taylor expansion of phi1 in theta 5.681 * [backup-simplify]: Simplify phi1 into phi1 5.681 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.681 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.681 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.681 * [taylor]: Taking taylor expansion of theta in theta 5.681 * [backup-simplify]: Simplify 0 into 0 5.681 * [backup-simplify]: Simplify 1 into 1 5.681 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 5.681 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.681 * [taylor]: Taking taylor expansion of phi1 in theta 5.681 * [backup-simplify]: Simplify phi1 into phi1 5.681 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.681 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.681 * [taylor]: Taking taylor expansion of (cos delta) in theta 5.681 * [taylor]: Taking taylor expansion of delta in theta 5.681 * [backup-simplify]: Simplify delta into delta 5.681 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.681 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.681 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.681 * [taylor]: Taking taylor expansion of phi1 in theta 5.681 * [backup-simplify]: Simplify phi1 into phi1 5.681 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.681 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.681 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in phi1 5.681 * [taylor]: Taking taylor expansion of (cos delta) in phi1 5.681 * [taylor]: Taking taylor expansion of delta in phi1 5.681 * [backup-simplify]: Simplify delta into delta 5.681 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.681 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.681 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in phi1 5.681 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 5.681 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.681 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 5.681 * [taylor]: Taking taylor expansion of (sin delta) in phi1 5.681 * [taylor]: Taking taylor expansion of delta in phi1 5.681 * [backup-simplify]: Simplify delta into delta 5.681 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.682 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.682 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 5.682 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.682 * [taylor]: Taking taylor expansion of phi1 in phi1 5.682 * [backup-simplify]: Simplify 0 into 0 5.682 * [backup-simplify]: Simplify 1 into 1 5.682 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.682 * [taylor]: Taking taylor expansion of theta in phi1 5.682 * [backup-simplify]: Simplify theta into theta 5.682 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.682 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.682 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 5.682 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.682 * [taylor]: Taking taylor expansion of phi1 in phi1 5.682 * [backup-simplify]: Simplify 0 into 0 5.682 * [backup-simplify]: Simplify 1 into 1 5.682 * [taylor]: Taking taylor expansion of (cos delta) in phi1 5.682 * [taylor]: Taking taylor expansion of delta in phi1 5.682 * [backup-simplify]: Simplify delta into delta 5.682 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.682 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.682 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.682 * [taylor]: Taking taylor expansion of phi1 in phi1 5.682 * [backup-simplify]: Simplify 0 into 0 5.682 * [backup-simplify]: Simplify 1 into 1 5.682 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in delta 5.682 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.682 * [taylor]: Taking taylor expansion of delta in delta 5.682 * [backup-simplify]: Simplify 0 into 0 5.682 * [backup-simplify]: Simplify 1 into 1 5.682 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in delta 5.682 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 5.682 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.682 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 5.682 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.682 * [taylor]: Taking taylor expansion of delta in delta 5.682 * [backup-simplify]: Simplify 0 into 0 5.682 * [backup-simplify]: Simplify 1 into 1 5.682 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 5.682 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.682 * [taylor]: Taking taylor expansion of phi1 in delta 5.682 * [backup-simplify]: Simplify phi1 into phi1 5.682 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.682 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.682 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.682 * [taylor]: Taking taylor expansion of theta in delta 5.682 * [backup-simplify]: Simplify theta into theta 5.682 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.682 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.682 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 5.682 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.682 * [taylor]: Taking taylor expansion of phi1 in delta 5.682 * [backup-simplify]: Simplify phi1 into phi1 5.682 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.682 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.682 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.682 * [taylor]: Taking taylor expansion of delta in delta 5.682 * [backup-simplify]: Simplify 0 into 0 5.682 * [backup-simplify]: Simplify 1 into 1 5.683 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.683 * [taylor]: Taking taylor expansion of phi1 in delta 5.683 * [backup-simplify]: Simplify phi1 into phi1 5.683 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.683 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.683 * [taylor]: Taking taylor expansion of (- (cos delta) (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))) in delta 5.683 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.683 * [taylor]: Taking taylor expansion of delta in delta 5.683 * [backup-simplify]: Simplify 0 into 0 5.683 * [backup-simplify]: Simplify 1 into 1 5.683 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in delta 5.683 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 5.683 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.683 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 5.683 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.683 * [taylor]: Taking taylor expansion of delta in delta 5.683 * [backup-simplify]: Simplify 0 into 0 5.683 * [backup-simplify]: Simplify 1 into 1 5.683 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 5.683 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.683 * [taylor]: Taking taylor expansion of phi1 in delta 5.683 * [backup-simplify]: Simplify phi1 into phi1 5.683 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.683 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.683 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.683 * [taylor]: Taking taylor expansion of theta in delta 5.683 * [backup-simplify]: Simplify theta into theta 5.683 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.683 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.683 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 5.683 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.683 * [taylor]: Taking taylor expansion of phi1 in delta 5.683 * [backup-simplify]: Simplify phi1 into phi1 5.683 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.683 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.683 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.683 * [taylor]: Taking taylor expansion of delta in delta 5.683 * [backup-simplify]: Simplify 0 into 0 5.683 * [backup-simplify]: Simplify 1 into 1 5.683 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.683 * [taylor]: Taking taylor expansion of phi1 in delta 5.683 * [backup-simplify]: Simplify phi1 into phi1 5.683 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.683 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.683 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 5.683 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 5.684 * [backup-simplify]: Simplify (- 0) into 0 5.684 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 5.684 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.684 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.684 * [backup-simplify]: Simplify (- 0) into 0 5.684 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.684 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 5.684 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 5.684 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.684 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.685 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.685 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.685 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 5.685 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.685 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.685 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.685 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 5.685 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 5.685 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 5.685 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 5.685 * [taylor]: Taking taylor expansion of 1 in phi1 5.685 * [backup-simplify]: Simplify 1 into 1 5.685 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.685 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.685 * [taylor]: Taking taylor expansion of phi1 in phi1 5.685 * [backup-simplify]: Simplify 0 into 0 5.685 * [backup-simplify]: Simplify 1 into 1 5.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.686 * [backup-simplify]: Simplify (+ 1 0) into 1 5.686 * [taylor]: Taking taylor expansion of 1 in theta 5.686 * [backup-simplify]: Simplify 1 into 1 5.686 * [backup-simplify]: Simplify 1 into 1 5.686 * [backup-simplify]: Simplify (+ 0) into 0 5.686 * [backup-simplify]: Simplify (+ 0) into 0 5.687 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.687 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.688 * [backup-simplify]: Simplify (+ 0 0) into 0 5.688 * [backup-simplify]: Simplify (+ 0) into 0 5.688 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.689 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.689 * [backup-simplify]: Simplify (- 0) into 0 5.690 * [backup-simplify]: Simplify (+ 0 0) into 0 5.690 * [backup-simplify]: Simplify (+ 0) into 0 5.690 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 5.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.691 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 5.691 * [backup-simplify]: Simplify (- 0) into 0 5.691 * [backup-simplify]: Simplify (+ 0 0) into 0 5.691 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 5.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.692 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 5.692 * [backup-simplify]: Simplify (+ 0) into 0 5.693 * [backup-simplify]: Simplify (+ 0) into 0 5.693 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.694 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.694 * [backup-simplify]: Simplify (+ 0 0) into 0 5.694 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.694 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 5.694 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* (* (cos phi1) (cos theta)) (sin phi1))) into (* (cos phi1) (* (cos theta) (sin phi1))) 5.694 * [backup-simplify]: Simplify (- (* (cos phi1) (* (cos theta) (sin phi1)))) into (- (* (cos phi1) (* (cos theta) (sin phi1)))) 5.695 * [backup-simplify]: Simplify (+ 0 (- (* (cos phi1) (* (cos theta) (sin phi1))))) into (- (* (cos phi1) (* (cos theta) (sin phi1)))) 5.695 * [taylor]: Taking taylor expansion of (- (* (cos phi1) (* (cos theta) (sin phi1)))) in phi1 5.695 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin phi1))) in phi1 5.695 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.695 * [taylor]: Taking taylor expansion of phi1 in phi1 5.695 * [backup-simplify]: Simplify 0 into 0 5.695 * [backup-simplify]: Simplify 1 into 1 5.695 * [taylor]: Taking taylor expansion of (* (cos theta) (sin phi1)) in phi1 5.695 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.695 * [taylor]: Taking taylor expansion of theta in phi1 5.695 * [backup-simplify]: Simplify theta into theta 5.695 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.695 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.695 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.695 * [taylor]: Taking taylor expansion of phi1 in phi1 5.695 * [backup-simplify]: Simplify 0 into 0 5.695 * [backup-simplify]: Simplify 1 into 1 5.695 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.695 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.695 * [backup-simplify]: Simplify (- 0) into 0 5.696 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.696 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 5.696 * [backup-simplify]: Simplify (* 1 0) into 0 5.696 * [backup-simplify]: Simplify (- 0) into 0 5.696 * [taylor]: Taking taylor expansion of 0 in theta 5.696 * [backup-simplify]: Simplify 0 into 0 5.696 * [backup-simplify]: Simplify 0 into 0 5.696 * [backup-simplify]: Simplify (+ 0 0) into 0 5.696 * [taylor]: Taking taylor expansion of 0 in theta 5.696 * [backup-simplify]: Simplify 0 into 0 5.696 * [backup-simplify]: Simplify 0 into 0 5.697 * [backup-simplify]: Simplify 0 into 0 5.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 5.698 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.698 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.699 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.699 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.700 * [backup-simplify]: Simplify (+ 0 0) into 0 5.700 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.701 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 5.701 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.702 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 5.702 * [backup-simplify]: Simplify (- 0) into 0 5.702 * [backup-simplify]: Simplify (+ 0 0) into 0 5.703 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.703 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.704 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.704 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.704 * [backup-simplify]: Simplify (- 0) into 0 5.704 * [backup-simplify]: Simplify (+ 0 0) into 0 5.705 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 5.705 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.706 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 5.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 5.707 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.707 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.708 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.708 * [backup-simplify]: Simplify (+ 0 0) into 0 5.709 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 5.709 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 5.709 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* (* (cos phi1) (cos theta)) 0) (* (- (* 1/2 (sin phi1))) (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 5.709 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 5.709 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 5.709 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 5.709 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 5.709 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.709 * [backup-simplify]: Simplify 1/2 into 1/2 5.709 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.709 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.709 * [taylor]: Taking taylor expansion of phi1 in phi1 5.709 * [backup-simplify]: Simplify 0 into 0 5.709 * [backup-simplify]: Simplify 1 into 1 5.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.710 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.710 * [backup-simplify]: Simplify 1/2 into 1/2 5.710 * [backup-simplify]: Simplify (- 1/2) into -1/2 5.711 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 5.711 * [taylor]: Taking taylor expansion of -1/2 in theta 5.711 * [backup-simplify]: Simplify -1/2 into -1/2 5.711 * [backup-simplify]: Simplify -1/2 into -1/2 5.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.711 * [backup-simplify]: Simplify (+ 0) into 0 5.712 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.712 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.713 * [backup-simplify]: Simplify (- 0) into 0 5.713 * [backup-simplify]: Simplify (+ 0 0) into 0 5.713 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 5.713 * [backup-simplify]: Simplify (+ 0) into 0 5.714 * [backup-simplify]: Simplify (+ (* 1 (cos theta)) (* 0 0)) into (cos theta) 5.714 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 5.714 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 5.714 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.714 * [taylor]: Taking taylor expansion of theta in theta 5.714 * [backup-simplify]: Simplify 0 into 0 5.714 * [backup-simplify]: Simplify 1 into 1 5.714 * [backup-simplify]: Simplify (- 1) into -1 5.714 * [backup-simplify]: Simplify -1 into -1 5.714 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 5.715 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))) (sin (/ 1 phi1)))) into (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 5.715 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in (delta phi1 theta) around 0 5.715 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in theta 5.715 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.715 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.715 * [taylor]: Taking taylor expansion of delta in theta 5.715 * [backup-simplify]: Simplify delta into delta 5.715 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.715 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.715 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.715 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 5.715 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 5.715 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.715 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 5.715 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 5.715 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.715 * [taylor]: Taking taylor expansion of delta in theta 5.715 * [backup-simplify]: Simplify delta into delta 5.715 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.715 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.715 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.715 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 5.715 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 5.715 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 5.715 * [taylor]: Taking taylor expansion of theta in theta 5.715 * [backup-simplify]: Simplify 0 into 0 5.715 * [backup-simplify]: Simplify 1 into 1 5.715 * [backup-simplify]: Simplify (/ 1 1) into 1 5.716 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.716 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 5.716 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.716 * [taylor]: Taking taylor expansion of phi1 in theta 5.716 * [backup-simplify]: Simplify phi1 into phi1 5.716 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.716 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.716 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.716 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 5.716 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.716 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.716 * [taylor]: Taking taylor expansion of delta in theta 5.716 * [backup-simplify]: Simplify delta into delta 5.716 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.716 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.716 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.716 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.716 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.716 * [taylor]: Taking taylor expansion of phi1 in theta 5.716 * [backup-simplify]: Simplify phi1 into phi1 5.716 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.716 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.716 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.716 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.716 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.716 * [taylor]: Taking taylor expansion of phi1 in theta 5.716 * [backup-simplify]: Simplify phi1 into phi1 5.716 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.716 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.716 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.716 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 5.716 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.716 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.716 * [taylor]: Taking taylor expansion of delta in phi1 5.716 * [backup-simplify]: Simplify delta into delta 5.716 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.716 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.717 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.717 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 5.717 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 5.717 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.717 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 5.717 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 5.717 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.717 * [taylor]: Taking taylor expansion of delta in phi1 5.717 * [backup-simplify]: Simplify delta into delta 5.717 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.717 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.717 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.717 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 5.717 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 5.717 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 5.717 * [taylor]: Taking taylor expansion of theta in phi1 5.717 * [backup-simplify]: Simplify theta into theta 5.717 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.717 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.717 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.717 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 5.717 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.717 * [taylor]: Taking taylor expansion of phi1 in phi1 5.717 * [backup-simplify]: Simplify 0 into 0 5.717 * [backup-simplify]: Simplify 1 into 1 5.718 * [backup-simplify]: Simplify (/ 1 1) into 1 5.718 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.718 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 5.718 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.718 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.718 * [taylor]: Taking taylor expansion of delta in phi1 5.718 * [backup-simplify]: Simplify delta into delta 5.718 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.718 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.718 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.718 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.718 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.718 * [taylor]: Taking taylor expansion of phi1 in phi1 5.718 * [backup-simplify]: Simplify 0 into 0 5.718 * [backup-simplify]: Simplify 1 into 1 5.719 * [backup-simplify]: Simplify (/ 1 1) into 1 5.719 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.719 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.719 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.719 * [taylor]: Taking taylor expansion of phi1 in phi1 5.719 * [backup-simplify]: Simplify 0 into 0 5.719 * [backup-simplify]: Simplify 1 into 1 5.719 * [backup-simplify]: Simplify (/ 1 1) into 1 5.719 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.719 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 5.719 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.719 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.720 * [taylor]: Taking taylor expansion of delta in delta 5.720 * [backup-simplify]: Simplify 0 into 0 5.720 * [backup-simplify]: Simplify 1 into 1 5.720 * [backup-simplify]: Simplify (/ 1 1) into 1 5.720 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.720 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 5.720 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 5.720 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.720 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 5.720 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 5.720 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.720 * [taylor]: Taking taylor expansion of delta in delta 5.720 * [backup-simplify]: Simplify 0 into 0 5.720 * [backup-simplify]: Simplify 1 into 1 5.721 * [backup-simplify]: Simplify (/ 1 1) into 1 5.721 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.721 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 5.721 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 5.721 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 5.721 * [taylor]: Taking taylor expansion of theta in delta 5.721 * [backup-simplify]: Simplify theta into theta 5.721 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.721 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.721 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.721 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 5.721 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.721 * [taylor]: Taking taylor expansion of phi1 in delta 5.721 * [backup-simplify]: Simplify phi1 into phi1 5.721 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.721 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.721 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.721 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 5.721 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.721 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.721 * [taylor]: Taking taylor expansion of delta in delta 5.721 * [backup-simplify]: Simplify 0 into 0 5.721 * [backup-simplify]: Simplify 1 into 1 5.722 * [backup-simplify]: Simplify (/ 1 1) into 1 5.722 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.722 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.722 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.722 * [taylor]: Taking taylor expansion of phi1 in delta 5.722 * [backup-simplify]: Simplify phi1 into phi1 5.722 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.722 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.722 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.722 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.722 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.722 * [taylor]: Taking taylor expansion of phi1 in delta 5.722 * [backup-simplify]: Simplify phi1 into phi1 5.722 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.722 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.722 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.722 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 5.723 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.723 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.723 * [taylor]: Taking taylor expansion of delta in delta 5.723 * [backup-simplify]: Simplify 0 into 0 5.723 * [backup-simplify]: Simplify 1 into 1 5.723 * [backup-simplify]: Simplify (/ 1 1) into 1 5.723 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.723 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 5.723 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 5.723 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 5.723 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 5.723 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 5.723 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.723 * [taylor]: Taking taylor expansion of delta in delta 5.723 * [backup-simplify]: Simplify 0 into 0 5.723 * [backup-simplify]: Simplify 1 into 1 5.724 * [backup-simplify]: Simplify (/ 1 1) into 1 5.724 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.724 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 5.724 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 5.724 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 5.724 * [taylor]: Taking taylor expansion of theta in delta 5.724 * [backup-simplify]: Simplify theta into theta 5.724 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.724 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.724 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.724 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 5.724 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.724 * [taylor]: Taking taylor expansion of phi1 in delta 5.724 * [backup-simplify]: Simplify phi1 into phi1 5.724 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.724 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.725 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.725 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 5.725 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.725 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.725 * [taylor]: Taking taylor expansion of delta in delta 5.725 * [backup-simplify]: Simplify 0 into 0 5.725 * [backup-simplify]: Simplify 1 into 1 5.725 * [backup-simplify]: Simplify (/ 1 1) into 1 5.725 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.725 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.725 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.725 * [taylor]: Taking taylor expansion of phi1 in delta 5.726 * [backup-simplify]: Simplify phi1 into phi1 5.726 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.726 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.726 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.726 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.726 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.726 * [taylor]: Taking taylor expansion of phi1 in delta 5.726 * [backup-simplify]: Simplify phi1 into phi1 5.726 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.726 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.726 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.726 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 5.726 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 5.727 * [backup-simplify]: Simplify (- 0) into 0 5.727 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 5.727 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 5.727 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 5.728 * [backup-simplify]: Simplify (- 0) into 0 5.728 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 5.728 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 5.728 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 5.728 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.728 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.728 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.728 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 5.729 * [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))))) 5.729 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.729 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.729 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.729 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 5.730 * [backup-simplify]: Simplify (- (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.730 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.731 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) in phi1 5.731 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.731 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.731 * [taylor]: Taking taylor expansion of delta in phi1 5.731 * [backup-simplify]: Simplify delta into delta 5.731 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.731 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.731 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.731 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) in phi1 5.731 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 5.731 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 5.731 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.731 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.731 * [taylor]: Taking taylor expansion of phi1 in phi1 5.731 * [backup-simplify]: Simplify 0 into 0 5.731 * [backup-simplify]: Simplify 1 into 1 5.732 * [backup-simplify]: Simplify (/ 1 1) into 1 5.732 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.732 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.732 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.732 * [taylor]: Taking taylor expansion of delta in phi1 5.732 * [backup-simplify]: Simplify delta into delta 5.732 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.732 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.732 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.732 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 5.732 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 5.732 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.732 * [taylor]: Taking taylor expansion of phi1 in phi1 5.732 * [backup-simplify]: Simplify 0 into 0 5.732 * [backup-simplify]: Simplify 1 into 1 5.733 * [backup-simplify]: Simplify (/ 1 1) into 1 5.733 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.733 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 5.733 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.733 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.733 * [taylor]: Taking taylor expansion of phi1 in phi1 5.733 * [backup-simplify]: Simplify 0 into 0 5.733 * [backup-simplify]: Simplify 1 into 1 5.733 * [backup-simplify]: Simplify (/ 1 1) into 1 5.733 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.733 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 5.733 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 5.733 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 5.733 * [taylor]: Taking taylor expansion of theta in phi1 5.733 * [backup-simplify]: Simplify theta into theta 5.733 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.734 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.734 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.734 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 5.734 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.734 * [taylor]: Taking taylor expansion of delta in phi1 5.734 * [backup-simplify]: Simplify delta into delta 5.734 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.734 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.734 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.734 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.734 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.734 * [backup-simplify]: Simplify (- 0) into 0 5.735 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.735 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 5.735 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.735 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.735 * [backup-simplify]: Simplify (- 0) into 0 5.735 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.736 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 5.736 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 5.736 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 5.736 * [backup-simplify]: Simplify (- 0) into 0 5.736 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 5.736 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 5.736 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 5.736 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 5.737 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 5.737 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 5.737 * [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))))) 5.737 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 5.738 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 5.739 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 5.739 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 5.739 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.739 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.739 * [taylor]: Taking taylor expansion of delta in theta 5.739 * [backup-simplify]: Simplify delta into delta 5.739 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.739 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.739 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.739 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 5.739 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 5.739 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 5.739 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.739 * [taylor]: Taking taylor expansion of phi1 in theta 5.739 * [backup-simplify]: Simplify phi1 into phi1 5.739 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.739 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.739 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.739 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 5.739 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 5.740 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.740 * [taylor]: Taking taylor expansion of delta in theta 5.740 * [backup-simplify]: Simplify delta into delta 5.740 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.740 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.740 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.740 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 5.740 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 5.740 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 5.740 * [taylor]: Taking taylor expansion of theta in theta 5.740 * [backup-simplify]: Simplify 0 into 0 5.740 * [backup-simplify]: Simplify 1 into 1 5.741 * [backup-simplify]: Simplify (/ 1 1) into 1 5.741 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.741 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.741 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.741 * [taylor]: Taking taylor expansion of phi1 in theta 5.741 * [backup-simplify]: Simplify phi1 into phi1 5.741 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.741 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.741 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.741 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 5.741 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 5.741 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.741 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.741 * [taylor]: Taking taylor expansion of phi1 in theta 5.741 * [backup-simplify]: Simplify phi1 into phi1 5.741 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.741 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.742 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.742 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.742 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.742 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.742 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.742 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.742 * [taylor]: Taking taylor expansion of delta in theta 5.742 * [backup-simplify]: Simplify delta into delta 5.742 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.742 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.742 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.742 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.742 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.743 * [backup-simplify]: Simplify (- 0) into 0 5.743 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.743 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 5.743 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 5.743 * [backup-simplify]: Simplify (- 0) into 0 5.743 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 5.744 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 5.744 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 5.744 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 5.744 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.744 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.744 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.744 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 5.744 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 5.745 * [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))))) 5.745 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 5.745 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.745 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.746 * [backup-simplify]: Simplify (- 0) into 0 5.746 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.746 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 5.747 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 5.747 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.748 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 5.749 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (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))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 5.752 * [backup-simplify]: Simplify (+ 0) into 0 5.753 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.754 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.755 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.755 * [backup-simplify]: Simplify (+ 0 0) into 0 5.756 * [backup-simplify]: Simplify (+ 0) into 0 5.756 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 5.756 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.758 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 5.758 * [backup-simplify]: Simplify (- 0) into 0 5.759 * [backup-simplify]: Simplify (+ 0 0) into 0 5.759 * [backup-simplify]: Simplify (+ 0) into 0 5.759 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 5.760 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 5.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.761 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 5.761 * [backup-simplify]: Simplify (- 0) into 0 5.762 * [backup-simplify]: Simplify (+ 0 0) into 0 5.762 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 5.762 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 5.762 * [backup-simplify]: Simplify (+ 0) into 0 5.763 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.763 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.765 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.765 * [backup-simplify]: Simplify (+ 0 0) into 0 5.766 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.766 * [backup-simplify]: Simplify (+ 0 0) into 0 5.766 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.767 * [backup-simplify]: Simplify (- 0) into 0 5.767 * [backup-simplify]: Simplify (+ 0 0) into 0 5.767 * [taylor]: Taking taylor expansion of 0 in phi1 5.767 * [backup-simplify]: Simplify 0 into 0 5.767 * [taylor]: Taking taylor expansion of 0 in theta 5.767 * [backup-simplify]: Simplify 0 into 0 5.767 * [backup-simplify]: Simplify 0 into 0 5.768 * [backup-simplify]: Simplify (+ 0) into 0 5.768 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.769 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.770 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.770 * [backup-simplify]: Simplify (- 0) into 0 5.771 * [backup-simplify]: Simplify (+ 0 0) into 0 5.771 * [backup-simplify]: Simplify (+ 0) into 0 5.772 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.772 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.773 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.773 * [backup-simplify]: Simplify (- 0) into 0 5.774 * [backup-simplify]: Simplify (+ 0 0) into 0 5.774 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.774 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 5.774 * [backup-simplify]: Simplify (+ 0) into 0 5.775 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 5.775 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.776 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 5.777 * [backup-simplify]: Simplify (+ 0 0) into 0 5.777 * [backup-simplify]: Simplify (+ 0) into 0 5.778 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 5.778 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 5.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.779 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 5.779 * [backup-simplify]: Simplify (- 0) into 0 5.780 * [backup-simplify]: Simplify (+ 0 0) into 0 5.780 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 5.780 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 5.781 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 5.781 * [backup-simplify]: Simplify (+ 0 0) into 0 5.781 * [backup-simplify]: Simplify (- 0) into 0 5.782 * [backup-simplify]: Simplify (+ 0 0) into 0 5.782 * [taylor]: Taking taylor expansion of 0 in theta 5.782 * [backup-simplify]: Simplify 0 into 0 5.782 * [backup-simplify]: Simplify 0 into 0 5.782 * [backup-simplify]: Simplify (+ 0) into 0 5.783 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.783 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.785 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.785 * [backup-simplify]: Simplify (- 0) into 0 5.785 * [backup-simplify]: Simplify (+ 0 0) into 0 5.786 * [backup-simplify]: Simplify (+ 0) into 0 5.786 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.786 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.788 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.788 * [backup-simplify]: Simplify (+ 0 0) into 0 5.788 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.789 * [backup-simplify]: Simplify (+ 0) into 0 5.789 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 5.789 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.791 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 5.791 * [backup-simplify]: Simplify (+ 0 0) into 0 5.791 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 5.792 * [backup-simplify]: Simplify (+ 0) into 0 5.792 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 5.792 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.794 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 5.794 * [backup-simplify]: Simplify (- 0) into 0 5.794 * [backup-simplify]: Simplify (+ 0 0) into 0 5.795 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 5.795 * [backup-simplify]: Simplify (+ 0) into 0 5.796 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 5.796 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 5.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.797 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 5.798 * [backup-simplify]: Simplify (- 0) into 0 5.798 * [backup-simplify]: Simplify (+ 0 0) into 0 5.799 * [backup-simplify]: Simplify (+ 0) into 0 5.799 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 5.799 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.800 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 5.801 * [backup-simplify]: Simplify (+ 0 0) into 0 5.801 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 5.801 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 5.802 * [backup-simplify]: Simplify (+ 0 0) into 0 5.802 * [backup-simplify]: Simplify (- 0) into 0 5.802 * [backup-simplify]: Simplify (+ 0 0) into 0 5.802 * [backup-simplify]: Simplify 0 into 0 5.803 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.804 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.804 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.806 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.806 * [backup-simplify]: Simplify (+ 0 0) into 0 5.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.808 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.808 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.809 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.809 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.809 * [backup-simplify]: Simplify (- 0) into 0 5.810 * [backup-simplify]: Simplify (+ 0 0) into 0 5.811 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.812 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.812 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.813 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.813 * [backup-simplify]: Simplify (- 0) into 0 5.813 * [backup-simplify]: Simplify (+ 0 0) into 0 5.814 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 5.814 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 5.815 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.815 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.815 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.816 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.816 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.816 * [backup-simplify]: Simplify (+ 0 0) into 0 5.817 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 5.817 * [backup-simplify]: Simplify (+ 0 0) into 0 5.817 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 5.818 * [backup-simplify]: Simplify (- 0) into 0 5.818 * [backup-simplify]: Simplify (+ 0 0) into 0 5.818 * [taylor]: Taking taylor expansion of 0 in phi1 5.818 * [backup-simplify]: Simplify 0 into 0 5.818 * [taylor]: Taking taylor expansion of 0 in theta 5.818 * [backup-simplify]: Simplify 0 into 0 5.818 * [backup-simplify]: Simplify 0 into 0 5.818 * [taylor]: Taking taylor expansion of 0 in theta 5.818 * [backup-simplify]: Simplify 0 into 0 5.818 * [backup-simplify]: Simplify 0 into 0 5.819 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.819 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.819 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.820 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.820 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.820 * [backup-simplify]: Simplify (- 0) into 0 5.820 * [backup-simplify]: Simplify (+ 0 0) into 0 5.821 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.821 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.822 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.822 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.822 * [backup-simplify]: Simplify (- 0) into 0 5.823 * [backup-simplify]: Simplify (+ 0 0) into 0 5.823 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 5.823 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 5.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.824 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.825 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.826 * [backup-simplify]: Simplify (+ 0 0) into 0 5.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.827 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.827 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.828 * [backup-simplify]: Simplify (- 0) into 0 5.828 * [backup-simplify]: Simplify (+ 0 0) into 0 5.828 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 5.829 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 5.829 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 5.829 * [backup-simplify]: Simplify (+ 0 0) into 0 5.830 * [backup-simplify]: Simplify (- 0) into 0 5.830 * [backup-simplify]: Simplify (+ 0 0) into 0 5.830 * [taylor]: Taking taylor expansion of 0 in theta 5.830 * [backup-simplify]: Simplify 0 into 0 5.830 * [backup-simplify]: Simplify 0 into 0 5.830 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2)))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 5.831 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))) (sin (/ 1 (- phi1))))) into (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 5.831 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (delta phi1 theta) around 0 5.831 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 5.831 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.831 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.831 * [taylor]: Taking taylor expansion of -1 in theta 5.831 * [backup-simplify]: Simplify -1 into -1 5.831 * [taylor]: Taking taylor expansion of delta in theta 5.831 * [backup-simplify]: Simplify delta into delta 5.831 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.831 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.831 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.831 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 5.831 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.831 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.831 * [taylor]: Taking taylor expansion of -1 in theta 5.831 * [backup-simplify]: Simplify -1 into -1 5.831 * [taylor]: Taking taylor expansion of phi1 in theta 5.831 * [backup-simplify]: Simplify phi1 into phi1 5.831 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.831 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.831 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.831 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 5.831 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.831 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 5.831 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 5.831 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.831 * [taylor]: Taking taylor expansion of -1 in theta 5.831 * [backup-simplify]: Simplify -1 into -1 5.831 * [taylor]: Taking taylor expansion of delta in theta 5.831 * [backup-simplify]: Simplify delta into delta 5.831 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.831 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.831 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.832 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 5.832 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 5.832 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.832 * [taylor]: Taking taylor expansion of -1 in theta 5.832 * [backup-simplify]: Simplify -1 into -1 5.832 * [taylor]: Taking taylor expansion of phi1 in theta 5.832 * [backup-simplify]: Simplify phi1 into phi1 5.832 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.832 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.832 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.832 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 5.832 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 5.832 * [taylor]: Taking taylor expansion of -1 in theta 5.832 * [backup-simplify]: Simplify -1 into -1 5.832 * [taylor]: Taking taylor expansion of theta in theta 5.832 * [backup-simplify]: Simplify 0 into 0 5.832 * [backup-simplify]: Simplify 1 into 1 5.832 * [backup-simplify]: Simplify (/ -1 1) into -1 5.832 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.832 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 5.832 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.832 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.832 * [taylor]: Taking taylor expansion of -1 in theta 5.832 * [backup-simplify]: Simplify -1 into -1 5.832 * [taylor]: Taking taylor expansion of phi1 in theta 5.832 * [backup-simplify]: Simplify phi1 into phi1 5.832 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.832 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.833 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.833 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.833 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.833 * [taylor]: Taking taylor expansion of -1 in theta 5.833 * [backup-simplify]: Simplify -1 into -1 5.833 * [taylor]: Taking taylor expansion of delta in theta 5.833 * [backup-simplify]: Simplify delta into delta 5.833 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.833 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.833 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.833 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 5.833 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.833 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.833 * [taylor]: Taking taylor expansion of -1 in phi1 5.833 * [backup-simplify]: Simplify -1 into -1 5.833 * [taylor]: Taking taylor expansion of delta in phi1 5.833 * [backup-simplify]: Simplify delta into delta 5.833 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.833 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.833 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.833 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 5.833 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.833 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.833 * [taylor]: Taking taylor expansion of -1 in phi1 5.833 * [backup-simplify]: Simplify -1 into -1 5.833 * [taylor]: Taking taylor expansion of phi1 in phi1 5.833 * [backup-simplify]: Simplify 0 into 0 5.833 * [backup-simplify]: Simplify 1 into 1 5.834 * [backup-simplify]: Simplify (/ -1 1) into -1 5.834 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.834 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 5.834 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.834 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 5.834 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 5.834 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.834 * [taylor]: Taking taylor expansion of -1 in phi1 5.834 * [backup-simplify]: Simplify -1 into -1 5.834 * [taylor]: Taking taylor expansion of delta in phi1 5.834 * [backup-simplify]: Simplify delta into delta 5.834 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.834 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.834 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.834 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 5.834 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 5.834 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.834 * [taylor]: Taking taylor expansion of -1 in phi1 5.834 * [backup-simplify]: Simplify -1 into -1 5.834 * [taylor]: Taking taylor expansion of phi1 in phi1 5.834 * [backup-simplify]: Simplify 0 into 0 5.834 * [backup-simplify]: Simplify 1 into 1 5.835 * [backup-simplify]: Simplify (/ -1 1) into -1 5.835 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.835 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 5.835 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 5.835 * [taylor]: Taking taylor expansion of -1 in phi1 5.835 * [backup-simplify]: Simplify -1 into -1 5.835 * [taylor]: Taking taylor expansion of theta in phi1 5.835 * [backup-simplify]: Simplify theta into theta 5.835 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.835 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.835 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.835 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 5.835 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.835 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.835 * [taylor]: Taking taylor expansion of -1 in phi1 5.835 * [backup-simplify]: Simplify -1 into -1 5.835 * [taylor]: Taking taylor expansion of phi1 in phi1 5.835 * [backup-simplify]: Simplify 0 into 0 5.835 * [backup-simplify]: Simplify 1 into 1 5.835 * [backup-simplify]: Simplify (/ -1 1) into -1 5.835 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.835 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.835 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.835 * [taylor]: Taking taylor expansion of -1 in phi1 5.835 * [backup-simplify]: Simplify -1 into -1 5.835 * [taylor]: Taking taylor expansion of delta in phi1 5.835 * [backup-simplify]: Simplify delta into delta 5.835 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.836 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.836 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.836 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 5.836 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.836 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.836 * [taylor]: Taking taylor expansion of -1 in delta 5.836 * [backup-simplify]: Simplify -1 into -1 5.836 * [taylor]: Taking taylor expansion of delta in delta 5.836 * [backup-simplify]: Simplify 0 into 0 5.836 * [backup-simplify]: Simplify 1 into 1 5.836 * [backup-simplify]: Simplify (/ -1 1) into -1 5.836 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.836 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 5.836 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.836 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.836 * [taylor]: Taking taylor expansion of -1 in delta 5.836 * [backup-simplify]: Simplify -1 into -1 5.836 * [taylor]: Taking taylor expansion of phi1 in delta 5.836 * [backup-simplify]: Simplify phi1 into phi1 5.836 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.836 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.836 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.836 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 5.836 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.836 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 5.836 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 5.836 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.836 * [taylor]: Taking taylor expansion of -1 in delta 5.836 * [backup-simplify]: Simplify -1 into -1 5.836 * [taylor]: Taking taylor expansion of delta in delta 5.836 * [backup-simplify]: Simplify 0 into 0 5.837 * [backup-simplify]: Simplify 1 into 1 5.837 * [backup-simplify]: Simplify (/ -1 1) into -1 5.837 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.837 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 5.837 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 5.837 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.837 * [taylor]: Taking taylor expansion of -1 in delta 5.837 * [backup-simplify]: Simplify -1 into -1 5.837 * [taylor]: Taking taylor expansion of phi1 in delta 5.837 * [backup-simplify]: Simplify phi1 into phi1 5.837 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.837 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.837 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.837 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 5.837 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 5.837 * [taylor]: Taking taylor expansion of -1 in delta 5.837 * [backup-simplify]: Simplify -1 into -1 5.837 * [taylor]: Taking taylor expansion of theta in delta 5.837 * [backup-simplify]: Simplify theta into theta 5.837 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.837 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.837 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.837 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 5.837 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.837 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.837 * [taylor]: Taking taylor expansion of -1 in delta 5.837 * [backup-simplify]: Simplify -1 into -1 5.837 * [taylor]: Taking taylor expansion of phi1 in delta 5.837 * [backup-simplify]: Simplify phi1 into phi1 5.837 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.837 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.838 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.838 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.838 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.838 * [taylor]: Taking taylor expansion of -1 in delta 5.838 * [backup-simplify]: Simplify -1 into -1 5.838 * [taylor]: Taking taylor expansion of delta in delta 5.838 * [backup-simplify]: Simplify 0 into 0 5.838 * [backup-simplify]: Simplify 1 into 1 5.838 * [backup-simplify]: Simplify (/ -1 1) into -1 5.838 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.838 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 5.838 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.838 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.838 * [taylor]: Taking taylor expansion of -1 in delta 5.838 * [backup-simplify]: Simplify -1 into -1 5.838 * [taylor]: Taking taylor expansion of delta in delta 5.838 * [backup-simplify]: Simplify 0 into 0 5.838 * [backup-simplify]: Simplify 1 into 1 5.838 * [backup-simplify]: Simplify (/ -1 1) into -1 5.838 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.838 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 5.838 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.838 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.838 * [taylor]: Taking taylor expansion of -1 in delta 5.838 * [backup-simplify]: Simplify -1 into -1 5.839 * [taylor]: Taking taylor expansion of phi1 in delta 5.839 * [backup-simplify]: Simplify phi1 into phi1 5.839 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.839 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.839 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.839 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 5.839 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 5.839 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 5.839 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 5.839 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.839 * [taylor]: Taking taylor expansion of -1 in delta 5.839 * [backup-simplify]: Simplify -1 into -1 5.839 * [taylor]: Taking taylor expansion of delta in delta 5.839 * [backup-simplify]: Simplify 0 into 0 5.839 * [backup-simplify]: Simplify 1 into 1 5.839 * [backup-simplify]: Simplify (/ -1 1) into -1 5.839 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.839 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 5.839 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 5.839 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.839 * [taylor]: Taking taylor expansion of -1 in delta 5.839 * [backup-simplify]: Simplify -1 into -1 5.839 * [taylor]: Taking taylor expansion of phi1 in delta 5.839 * [backup-simplify]: Simplify phi1 into phi1 5.839 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.839 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.839 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.839 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 5.839 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 5.839 * [taylor]: Taking taylor expansion of -1 in delta 5.839 * [backup-simplify]: Simplify -1 into -1 5.839 * [taylor]: Taking taylor expansion of theta in delta 5.839 * [backup-simplify]: Simplify theta into theta 5.840 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.840 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.840 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.840 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 5.840 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 5.840 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 5.840 * [taylor]: Taking taylor expansion of -1 in delta 5.840 * [backup-simplify]: Simplify -1 into -1 5.840 * [taylor]: Taking taylor expansion of phi1 in delta 5.840 * [backup-simplify]: Simplify phi1 into phi1 5.840 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.840 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.840 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.840 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 5.840 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 5.840 * [taylor]: Taking taylor expansion of -1 in delta 5.840 * [backup-simplify]: Simplify -1 into -1 5.840 * [taylor]: Taking taylor expansion of delta in delta 5.840 * [backup-simplify]: Simplify 0 into 0 5.840 * [backup-simplify]: Simplify 1 into 1 5.840 * [backup-simplify]: Simplify (/ -1 1) into -1 5.840 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.840 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.840 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.841 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.841 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 5.841 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 5.841 * [backup-simplify]: Simplify (- 0) into 0 5.841 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 5.841 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 5.841 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 5.842 * [backup-simplify]: Simplify (- 0) into 0 5.842 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 5.842 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 5.842 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 5.843 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.843 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.843 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.843 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 5.843 * [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))))) 5.844 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 5.844 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.845 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.845 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 5.845 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.845 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.845 * [taylor]: Taking taylor expansion of -1 in phi1 5.845 * [backup-simplify]: Simplify -1 into -1 5.845 * [taylor]: Taking taylor expansion of delta in phi1 5.845 * [backup-simplify]: Simplify delta into delta 5.845 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.845 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.845 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.845 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 5.845 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 5.845 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 5.846 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.846 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.846 * [taylor]: Taking taylor expansion of -1 in phi1 5.846 * [backup-simplify]: Simplify -1 into -1 5.846 * [taylor]: Taking taylor expansion of phi1 in phi1 5.846 * [backup-simplify]: Simplify 0 into 0 5.846 * [backup-simplify]: Simplify 1 into 1 5.847 * [backup-simplify]: Simplify (/ -1 1) into -1 5.847 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.847 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 5.847 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.847 * [taylor]: Taking taylor expansion of -1 in phi1 5.847 * [backup-simplify]: Simplify -1 into -1 5.847 * [taylor]: Taking taylor expansion of delta in phi1 5.847 * [backup-simplify]: Simplify delta into delta 5.847 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.847 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.847 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.847 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 5.847 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 5.847 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.847 * [taylor]: Taking taylor expansion of -1 in phi1 5.847 * [backup-simplify]: Simplify -1 into -1 5.847 * [taylor]: Taking taylor expansion of phi1 in phi1 5.847 * [backup-simplify]: Simplify 0 into 0 5.847 * [backup-simplify]: Simplify 1 into 1 5.848 * [backup-simplify]: Simplify (/ -1 1) into -1 5.848 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.848 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 5.848 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 5.848 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 5.848 * [taylor]: Taking taylor expansion of -1 in phi1 5.848 * [backup-simplify]: Simplify -1 into -1 5.848 * [taylor]: Taking taylor expansion of delta in phi1 5.848 * [backup-simplify]: Simplify delta into delta 5.848 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.848 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.848 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.848 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 5.848 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 5.848 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 5.848 * [taylor]: Taking taylor expansion of -1 in phi1 5.848 * [backup-simplify]: Simplify -1 into -1 5.848 * [taylor]: Taking taylor expansion of theta in phi1 5.848 * [backup-simplify]: Simplify theta into theta 5.848 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 5.849 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.849 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 5.849 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 5.849 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 5.849 * [taylor]: Taking taylor expansion of -1 in phi1 5.849 * [backup-simplify]: Simplify -1 into -1 5.849 * [taylor]: Taking taylor expansion of phi1 in phi1 5.849 * [backup-simplify]: Simplify 0 into 0 5.849 * [backup-simplify]: Simplify 1 into 1 5.849 * [backup-simplify]: Simplify (/ -1 1) into -1 5.850 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.850 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.850 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.850 * [backup-simplify]: Simplify (- 0) into 0 5.850 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.850 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 5.850 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.851 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.851 * [backup-simplify]: Simplify (- 0) into 0 5.851 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.851 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 5.851 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 5.851 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 5.852 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 5.852 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 5.852 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 5.852 * [backup-simplify]: Simplify (- 0) into 0 5.852 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 5.852 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 5.853 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 5.853 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 5.853 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 5.854 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.855 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.855 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 5.855 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.855 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.855 * [taylor]: Taking taylor expansion of -1 in theta 5.855 * [backup-simplify]: Simplify -1 into -1 5.855 * [taylor]: Taking taylor expansion of delta in theta 5.855 * [backup-simplify]: Simplify delta into delta 5.855 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.855 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.855 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.855 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 5.855 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 5.855 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 5.855 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.855 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.855 * [taylor]: Taking taylor expansion of -1 in theta 5.855 * [backup-simplify]: Simplify -1 into -1 5.855 * [taylor]: Taking taylor expansion of phi1 in theta 5.855 * [backup-simplify]: Simplify phi1 into phi1 5.855 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.855 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.855 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.855 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.856 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.856 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.856 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 5.856 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.856 * [taylor]: Taking taylor expansion of -1 in theta 5.856 * [backup-simplify]: Simplify -1 into -1 5.856 * [taylor]: Taking taylor expansion of delta in theta 5.856 * [backup-simplify]: Simplify delta into delta 5.856 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.856 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.856 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.856 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 5.856 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 5.856 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.856 * [taylor]: Taking taylor expansion of -1 in theta 5.856 * [backup-simplify]: Simplify -1 into -1 5.856 * [taylor]: Taking taylor expansion of phi1 in theta 5.856 * [backup-simplify]: Simplify phi1 into phi1 5.856 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.856 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.856 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.856 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 5.856 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 5.857 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 5.857 * [taylor]: Taking taylor expansion of -1 in theta 5.857 * [backup-simplify]: Simplify -1 into -1 5.857 * [taylor]: Taking taylor expansion of delta in theta 5.857 * [backup-simplify]: Simplify delta into delta 5.857 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 5.857 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 5.857 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 5.857 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 5.857 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 5.857 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 5.857 * [taylor]: Taking taylor expansion of -1 in theta 5.857 * [backup-simplify]: Simplify -1 into -1 5.857 * [taylor]: Taking taylor expansion of theta in theta 5.857 * [backup-simplify]: Simplify 0 into 0 5.857 * [backup-simplify]: Simplify 1 into 1 5.858 * [backup-simplify]: Simplify (/ -1 1) into -1 5.858 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 5.858 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 5.858 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 5.858 * [taylor]: Taking taylor expansion of -1 in theta 5.858 * [backup-simplify]: Simplify -1 into -1 5.858 * [taylor]: Taking taylor expansion of phi1 in theta 5.858 * [backup-simplify]: Simplify phi1 into phi1 5.858 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 5.858 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 5.858 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 5.859 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.859 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.859 * [backup-simplify]: Simplify (- 0) into 0 5.859 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.859 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 5.859 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 5.860 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 5.860 * [backup-simplify]: Simplify (- 0) into 0 5.860 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 5.860 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 5.860 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 5.860 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 5.861 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 5.861 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 5.861 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 5.861 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 5.861 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 5.861 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 5.861 * [backup-simplify]: Simplify (- 0) into 0 5.861 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 5.862 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 5.862 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 5.862 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 5.863 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 5.863 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.864 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.864 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 5.865 * [backup-simplify]: Simplify (+ 0) into 0 5.866 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 5.866 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 5.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.867 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 5.867 * [backup-simplify]: Simplify (- 0) into 0 5.868 * [backup-simplify]: Simplify (+ 0 0) into 0 5.868 * [backup-simplify]: Simplify (+ 0) into 0 5.869 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 5.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.870 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 5.870 * [backup-simplify]: Simplify (- 0) into 0 5.871 * [backup-simplify]: Simplify (+ 0 0) into 0 5.871 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 5.871 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 5.872 * [backup-simplify]: Simplify (+ 0) into 0 5.872 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.874 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.874 * [backup-simplify]: Simplify (+ 0 0) into 0 5.874 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 5.875 * [backup-simplify]: Simplify (+ 0 0) into 0 5.875 * [backup-simplify]: Simplify (+ 0) into 0 5.875 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.877 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.877 * [backup-simplify]: Simplify (+ 0 0) into 0 5.878 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 5.878 * [backup-simplify]: Simplify (- 0) into 0 5.878 * [backup-simplify]: Simplify (+ 0 0) into 0 5.878 * [taylor]: Taking taylor expansion of 0 in phi1 5.878 * [backup-simplify]: Simplify 0 into 0 5.879 * [taylor]: Taking taylor expansion of 0 in theta 5.879 * [backup-simplify]: Simplify 0 into 0 5.879 * [backup-simplify]: Simplify 0 into 0 5.879 * [backup-simplify]: Simplify (+ 0) into 0 5.879 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.880 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.881 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.881 * [backup-simplify]: Simplify (- 0) into 0 5.882 * [backup-simplify]: Simplify (+ 0 0) into 0 5.882 * [backup-simplify]: Simplify (+ 0) into 0 5.882 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.883 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.884 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.884 * [backup-simplify]: Simplify (- 0) into 0 5.885 * [backup-simplify]: Simplify (+ 0 0) into 0 5.885 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 5.885 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 5.885 * [backup-simplify]: Simplify (+ 0) into 0 5.886 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 5.886 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 5.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.888 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 5.888 * [backup-simplify]: Simplify (- 0) into 0 5.889 * [backup-simplify]: Simplify (+ 0 0) into 0 5.889 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 5.889 * [backup-simplify]: Simplify (+ 0) into 0 5.892 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 5.892 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.894 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 5.894 * [backup-simplify]: Simplify (+ 0 0) into 0 5.895 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 5.895 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 5.895 * [backup-simplify]: Simplify (+ 0 0) into 0 5.896 * [backup-simplify]: Simplify (- 0) into 0 5.896 * [backup-simplify]: Simplify (+ 0 0) into 0 5.896 * [taylor]: Taking taylor expansion of 0 in theta 5.896 * [backup-simplify]: Simplify 0 into 0 5.896 * [backup-simplify]: Simplify 0 into 0 5.897 * [backup-simplify]: Simplify (+ 0) into 0 5.897 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.897 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.899 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.899 * [backup-simplify]: Simplify (- 0) into 0 5.899 * [backup-simplify]: Simplify (+ 0 0) into 0 5.900 * [backup-simplify]: Simplify (+ 0) into 0 5.900 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 5.900 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.901 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 5.901 * [backup-simplify]: Simplify (- 0) into 0 5.902 * [backup-simplify]: Simplify (+ 0 0) into 0 5.902 * [backup-simplify]: Simplify (+ 0) into 0 5.902 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.903 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.903 * [backup-simplify]: Simplify (+ 0 0) into 0 5.903 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 5.903 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 5.904 * [backup-simplify]: Simplify (+ 0) into 0 5.904 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 5.904 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.905 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 5.905 * [backup-simplify]: Simplify (- 0) into 0 5.905 * [backup-simplify]: Simplify (+ 0 0) into 0 5.905 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 5.906 * [backup-simplify]: Simplify (+ 0) into 0 5.906 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 5.906 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 5.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.907 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 5.907 * [backup-simplify]: Simplify (+ 0 0) into 0 5.907 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 5.908 * [backup-simplify]: Simplify (+ 0) into 0 5.908 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 5.908 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 5.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.909 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 5.909 * [backup-simplify]: Simplify (+ 0 0) into 0 5.909 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 5.909 * [backup-simplify]: Simplify (+ 0 0) into 0 5.910 * [backup-simplify]: Simplify (- 0) into 0 5.910 * [backup-simplify]: Simplify (+ 0 0) into 0 5.910 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.911 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.911 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.912 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.912 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.912 * [backup-simplify]: Simplify (- 0) into 0 5.913 * [backup-simplify]: Simplify (+ 0 0) into 0 5.913 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.914 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.914 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.914 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.915 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.915 * [backup-simplify]: Simplify (- 0) into 0 5.915 * [backup-simplify]: Simplify (+ 0 0) into 0 5.915 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 5.916 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 5.916 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.917 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.917 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.918 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.918 * [backup-simplify]: Simplify (+ 0 0) into 0 5.918 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 5.919 * [backup-simplify]: Simplify (+ 0 0) into 0 5.919 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.920 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.920 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.920 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.921 * [backup-simplify]: Simplify (+ 0 0) into 0 5.921 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 5.921 * [backup-simplify]: Simplify (- 0) into 0 5.922 * [backup-simplify]: Simplify (+ 0 0) into 0 5.922 * [taylor]: Taking taylor expansion of 0 in phi1 5.922 * [backup-simplify]: Simplify 0 into 0 5.922 * [taylor]: Taking taylor expansion of 0 in theta 5.922 * [backup-simplify]: Simplify 0 into 0 5.922 * [backup-simplify]: Simplify 0 into 0 5.922 * [taylor]: Taking taylor expansion of 0 in theta 5.922 * [backup-simplify]: Simplify 0 into 0 5.922 * [backup-simplify]: Simplify 0 into 0 5.922 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.923 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.923 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.923 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.924 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.924 * [backup-simplify]: Simplify (- 0) into 0 5.924 * [backup-simplify]: Simplify (+ 0 0) into 0 5.925 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.926 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.926 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.927 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.927 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.928 * [backup-simplify]: Simplify (- 0) into 0 5.928 * [backup-simplify]: Simplify (+ 0 0) into 0 5.929 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 5.929 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 5.930 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.931 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.931 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 5.932 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.933 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.933 * [backup-simplify]: Simplify (- 0) into 0 5.933 * [backup-simplify]: Simplify (+ 0 0) into 0 5.934 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 5.935 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.936 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 5.936 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 5.937 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.937 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 5.938 * [backup-simplify]: Simplify (+ 0 0) into 0 5.938 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 5.939 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 5.939 * [backup-simplify]: Simplify (+ 0 0) into 0 5.939 * [backup-simplify]: Simplify (- 0) into 0 5.940 * [backup-simplify]: Simplify (+ 0 0) into 0 5.940 * [taylor]: Taking taylor expansion of 0 in theta 5.940 * [backup-simplify]: Simplify 0 into 0 5.940 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 5.941 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 1 1 2) 5.941 * [backup-simplify]: Simplify (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) into (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) 5.941 * [approximate]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in (delta phi1 theta) around 0 5.941 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in theta 5.941 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 5.941 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.941 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 5.941 * [taylor]: Taking taylor expansion of (sin delta) in theta 5.941 * [taylor]: Taking taylor expansion of delta in theta 5.941 * [backup-simplify]: Simplify delta into delta 5.941 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.942 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.942 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 5.942 * [taylor]: Taking taylor expansion of (cos phi1) in theta 5.942 * [taylor]: Taking taylor expansion of phi1 in theta 5.942 * [backup-simplify]: Simplify phi1 into phi1 5.942 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.942 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.942 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.942 * [taylor]: Taking taylor expansion of theta in theta 5.942 * [backup-simplify]: Simplify 0 into 0 5.942 * [backup-simplify]: Simplify 1 into 1 5.942 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 5.942 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.942 * [taylor]: Taking taylor expansion of phi1 in theta 5.942 * [backup-simplify]: Simplify phi1 into phi1 5.942 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.942 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.942 * [taylor]: Taking taylor expansion of (cos delta) in theta 5.942 * [taylor]: Taking taylor expansion of delta in theta 5.942 * [backup-simplify]: Simplify delta into delta 5.942 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.942 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.942 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.942 * [taylor]: Taking taylor expansion of phi1 in theta 5.942 * [backup-simplify]: Simplify phi1 into phi1 5.942 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.942 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.942 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in phi1 5.942 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 5.942 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.942 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 5.942 * [taylor]: Taking taylor expansion of (sin delta) in phi1 5.943 * [taylor]: Taking taylor expansion of delta in phi1 5.943 * [backup-simplify]: Simplify delta into delta 5.943 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.943 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.943 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 5.943 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.943 * [taylor]: Taking taylor expansion of phi1 in phi1 5.943 * [backup-simplify]: Simplify 0 into 0 5.943 * [backup-simplify]: Simplify 1 into 1 5.943 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.943 * [taylor]: Taking taylor expansion of theta in phi1 5.943 * [backup-simplify]: Simplify theta into theta 5.943 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.943 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.943 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 5.943 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.943 * [taylor]: Taking taylor expansion of phi1 in phi1 5.943 * [backup-simplify]: Simplify 0 into 0 5.943 * [backup-simplify]: Simplify 1 into 1 5.943 * [taylor]: Taking taylor expansion of (cos delta) in phi1 5.943 * [taylor]: Taking taylor expansion of delta in phi1 5.943 * [backup-simplify]: Simplify delta into delta 5.943 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.943 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.943 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.943 * [taylor]: Taking taylor expansion of phi1 in phi1 5.943 * [backup-simplify]: Simplify 0 into 0 5.943 * [backup-simplify]: Simplify 1 into 1 5.943 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in delta 5.943 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 5.943 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.943 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 5.943 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.943 * [taylor]: Taking taylor expansion of delta in delta 5.943 * [backup-simplify]: Simplify 0 into 0 5.943 * [backup-simplify]: Simplify 1 into 1 5.944 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 5.944 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.944 * [taylor]: Taking taylor expansion of phi1 in delta 5.944 * [backup-simplify]: Simplify phi1 into phi1 5.944 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.944 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.944 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.944 * [taylor]: Taking taylor expansion of theta in delta 5.944 * [backup-simplify]: Simplify theta into theta 5.944 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.944 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.944 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 5.944 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.944 * [taylor]: Taking taylor expansion of phi1 in delta 5.944 * [backup-simplify]: Simplify phi1 into phi1 5.944 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.944 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.944 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.944 * [taylor]: Taking taylor expansion of delta in delta 5.944 * [backup-simplify]: Simplify 0 into 0 5.944 * [backup-simplify]: Simplify 1 into 1 5.944 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.944 * [taylor]: Taking taylor expansion of phi1 in delta 5.944 * [backup-simplify]: Simplify phi1 into phi1 5.944 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.944 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.944 * [taylor]: Taking taylor expansion of (* (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) in delta 5.944 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 5.944 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 5.944 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 5.944 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.944 * [taylor]: Taking taylor expansion of delta in delta 5.944 * [backup-simplify]: Simplify 0 into 0 5.945 * [backup-simplify]: Simplify 1 into 1 5.945 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 5.945 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.945 * [taylor]: Taking taylor expansion of phi1 in delta 5.945 * [backup-simplify]: Simplify phi1 into phi1 5.945 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.945 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.945 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.945 * [taylor]: Taking taylor expansion of theta in delta 5.945 * [backup-simplify]: Simplify theta into theta 5.945 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.945 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.945 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 5.945 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.945 * [taylor]: Taking taylor expansion of phi1 in delta 5.945 * [backup-simplify]: Simplify phi1 into phi1 5.945 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.945 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.945 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.945 * [taylor]: Taking taylor expansion of delta in delta 5.945 * [backup-simplify]: Simplify 0 into 0 5.945 * [backup-simplify]: Simplify 1 into 1 5.945 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.945 * [taylor]: Taking taylor expansion of phi1 in delta 5.945 * [backup-simplify]: Simplify phi1 into phi1 5.945 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.945 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.945 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 5.946 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 5.946 * [backup-simplify]: Simplify (- 0) into 0 5.946 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 5.947 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.947 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.947 * [backup-simplify]: Simplify (- 0) into 0 5.947 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.947 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 5.947 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 5.947 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.948 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.948 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.948 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.948 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 5.948 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.948 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.948 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.948 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 5.948 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.948 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.948 * [taylor]: Taking taylor expansion of phi1 in phi1 5.948 * [backup-simplify]: Simplify 0 into 0 5.948 * [backup-simplify]: Simplify 1 into 1 5.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.950 * [backup-simplify]: Simplify (+ 0) into 0 5.950 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.952 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.952 * [backup-simplify]: Simplify (+ 0 0) into 0 5.952 * [backup-simplify]: Simplify (+ 0) into 0 5.953 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.954 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.954 * [backup-simplify]: Simplify (- 0) into 0 5.955 * [backup-simplify]: Simplify (+ 0 0) into 0 5.955 * [backup-simplify]: Simplify (+ 0) into 0 5.956 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 5.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.957 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 5.957 * [backup-simplify]: Simplify (- 0) into 0 5.958 * [backup-simplify]: Simplify (+ 0 0) into 0 5.958 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 5.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.959 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 5.959 * [backup-simplify]: Simplify (+ 0) into 0 5.960 * [backup-simplify]: Simplify (+ 0) into 0 5.960 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.961 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.962 * [backup-simplify]: Simplify (+ 0 0) into 0 5.962 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.962 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 5.963 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* (* (cos phi1) (cos theta)) (sin phi1))) into (* (cos phi1) (* (cos theta) (sin phi1))) 5.963 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin phi1))) in phi1 5.963 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.963 * [taylor]: Taking taylor expansion of phi1 in phi1 5.963 * [backup-simplify]: Simplify 0 into 0 5.963 * [backup-simplify]: Simplify 1 into 1 5.963 * [taylor]: Taking taylor expansion of (* (cos theta) (sin phi1)) in phi1 5.963 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.963 * [taylor]: Taking taylor expansion of theta in phi1 5.963 * [backup-simplify]: Simplify theta into theta 5.963 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.963 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.963 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.963 * [taylor]: Taking taylor expansion of phi1 in phi1 5.963 * [backup-simplify]: Simplify 0 into 0 5.963 * [backup-simplify]: Simplify 1 into 1 5.963 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.963 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.964 * [backup-simplify]: Simplify (- 0) into 0 5.964 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.964 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 5.964 * [backup-simplify]: Simplify (* 1 0) into 0 5.965 * [taylor]: Taking taylor expansion of 0 in theta 5.965 * [backup-simplify]: Simplify 0 into 0 5.965 * [backup-simplify]: Simplify 0 into 0 5.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.967 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.968 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.968 * [backup-simplify]: Simplify (+ 0 0) into 0 5.969 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.970 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 5.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.972 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 5.972 * [backup-simplify]: Simplify (- 0) into 0 5.972 * [backup-simplify]: Simplify (+ 0 0) into 0 5.973 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.974 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.975 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.975 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.976 * [backup-simplify]: Simplify (- 0) into 0 5.976 * [backup-simplify]: Simplify (+ 0 0) into 0 5.976 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 5.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.978 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 5.979 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 5.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.981 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.981 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.982 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.982 * [backup-simplify]: Simplify (+ 0 0) into 0 5.983 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 5.983 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 5.983 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* (* (cos phi1) (cos theta)) 0) (* (- (* 1/2 (sin phi1))) (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 5.983 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2))) in phi1 5.984 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 5.984 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.984 * [backup-simplify]: Simplify 1/2 into 1/2 5.984 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.984 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.984 * [taylor]: Taking taylor expansion of phi1 in phi1 5.984 * [backup-simplify]: Simplify 0 into 0 5.984 * [backup-simplify]: Simplify 1 into 1 5.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.985 * [backup-simplify]: Simplify (+ 0) into 0 5.986 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.987 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.988 * [backup-simplify]: Simplify (- 0) into 0 5.988 * [backup-simplify]: Simplify (+ 0 0) into 0 5.989 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 5.989 * [backup-simplify]: Simplify (+ 0) into 0 5.989 * [backup-simplify]: Simplify (+ (* 1 (cos theta)) (* 0 0)) into (cos theta) 5.989 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.989 * [taylor]: Taking taylor expansion of theta in theta 5.989 * [backup-simplify]: Simplify 0 into 0 5.989 * [backup-simplify]: Simplify 1 into 1 5.990 * [backup-simplify]: Simplify 1 into 1 5.990 * [backup-simplify]: Simplify (* 1 1) into 1 5.990 * [taylor]: Taking taylor expansion of 1 in theta 5.990 * [backup-simplify]: Simplify 1 into 1 5.990 * [backup-simplify]: Simplify 1 into 1 5.990 * [backup-simplify]: Simplify 0 into 0 5.991 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.992 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.995 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.995 * [backup-simplify]: Simplify (+ 0 0) into 0 5.996 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.997 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.998 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.999 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.999 * [backup-simplify]: Simplify (- 0) into 0 6.000 * [backup-simplify]: Simplify (+ 0 0) into 0 6.001 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.002 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.003 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.004 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.004 * [backup-simplify]: Simplify (- 0) into 0 6.004 * [backup-simplify]: Simplify (+ 0 0) into 0 6.005 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos theta))))) into 0 6.007 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 6.009 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (* (cos phi1) (cos theta)))))) into (- (* 1/6 (* (cos phi1) (cos theta)))) 6.010 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.012 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.013 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.015 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.016 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.016 * [backup-simplify]: Simplify (+ 0 0) into 0 6.017 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 -1/2) (+ (* 0 0) (* 0 1)))) into 0 6.017 * [backup-simplify]: Simplify (+ (- (* 1/6 (* (cos phi1) (cos theta)))) 0) into (- (* 1/6 (* (cos phi1) (cos theta)))) 6.018 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* (* (cos phi1) (cos theta)) 0) (+ (* (- (* 1/2 (sin phi1))) 0) (* (- (* 1/6 (* (cos phi1) (cos theta)))) (sin phi1))))) into (- (* 1/6 (* (cos phi1) (* (cos theta) (sin phi1))))) 6.018 * [taylor]: Taking taylor expansion of (- (* 1/6 (* (cos phi1) (* (cos theta) (sin phi1))))) in phi1 6.018 * [taylor]: Taking taylor expansion of (* 1/6 (* (cos phi1) (* (cos theta) (sin phi1)))) in phi1 6.018 * [taylor]: Taking taylor expansion of 1/6 in phi1 6.018 * [backup-simplify]: Simplify 1/6 into 1/6 6.018 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin phi1))) in phi1 6.018 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 6.018 * [taylor]: Taking taylor expansion of phi1 in phi1 6.018 * [backup-simplify]: Simplify 0 into 0 6.018 * [backup-simplify]: Simplify 1 into 1 6.018 * [taylor]: Taking taylor expansion of (* (cos theta) (sin phi1)) in phi1 6.018 * [taylor]: Taking taylor expansion of (cos theta) in phi1 6.018 * [taylor]: Taking taylor expansion of theta in phi1 6.018 * [backup-simplify]: Simplify theta into theta 6.018 * [backup-simplify]: Simplify (cos theta) into (cos theta) 6.018 * [backup-simplify]: Simplify (sin theta) into (sin theta) 6.018 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 6.018 * [taylor]: Taking taylor expansion of phi1 in phi1 6.018 * [backup-simplify]: Simplify 0 into 0 6.018 * [backup-simplify]: Simplify 1 into 1 6.018 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 6.018 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 6.019 * [backup-simplify]: Simplify (- 0) into 0 6.019 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 6.019 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 6.019 * [backup-simplify]: Simplify (* 1 0) into 0 6.020 * [backup-simplify]: Simplify (* 1/6 0) into 0 6.020 * [backup-simplify]: Simplify (- 0) into 0 6.020 * [taylor]: Taking taylor expansion of 0 in theta 6.020 * [backup-simplify]: Simplify 0 into 0 6.020 * [backup-simplify]: Simplify 0 into 0 6.021 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.022 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.023 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 6.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.024 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 6.025 * [backup-simplify]: Simplify (- 0) into 0 6.028 * [backup-simplify]: Simplify (+ 0 0) into 0 6.029 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 1) (* 0 0))) into 0 6.030 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 6.031 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (cos theta)) (* -1/2 0))) into 0 6.031 * [taylor]: Taking taylor expansion of 0 in theta 6.031 * [backup-simplify]: Simplify 0 into 0 6.031 * [backup-simplify]: Simplify 0 into 0 6.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.032 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.032 * [taylor]: Taking taylor expansion of 0 in theta 6.032 * [backup-simplify]: Simplify 0 into 0 6.032 * [backup-simplify]: Simplify 0 into 0 6.033 * [backup-simplify]: Simplify (+ 0) into 0 6.033 * [backup-simplify]: Simplify 0 into 0 6.033 * [backup-simplify]: Simplify 0 into 0 6.033 * [backup-simplify]: Simplify (+ (* 1 (pow (* 1 (* phi1 1)) 2)) (* 1 (* 1 (* phi1 delta)))) into (+ (* phi1 delta) (pow phi1 2)) 6.033 * [backup-simplify]: Simplify (* (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 6.033 * [approximate]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in (delta phi1 theta) around 0 6.034 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 6.034 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.034 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.034 * [taylor]: Taking taylor expansion of phi1 in theta 6.034 * [backup-simplify]: Simplify phi1 into phi1 6.034 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.034 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.034 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.034 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 6.034 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 6.034 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 6.034 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 6.034 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.034 * [taylor]: Taking taylor expansion of delta in theta 6.034 * [backup-simplify]: Simplify delta into delta 6.034 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.034 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.034 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.034 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 6.034 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 6.034 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 6.034 * [taylor]: Taking taylor expansion of theta in theta 6.034 * [backup-simplify]: Simplify 0 into 0 6.034 * [backup-simplify]: Simplify 1 into 1 6.035 * [backup-simplify]: Simplify (/ 1 1) into 1 6.035 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.035 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 6.035 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.035 * [taylor]: Taking taylor expansion of phi1 in theta 6.035 * [backup-simplify]: Simplify phi1 into phi1 6.035 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.035 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.035 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.035 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 6.035 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 6.035 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.035 * [taylor]: Taking taylor expansion of delta in theta 6.035 * [backup-simplify]: Simplify delta into delta 6.035 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.035 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.036 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.036 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.036 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.036 * [taylor]: Taking taylor expansion of phi1 in theta 6.036 * [backup-simplify]: Simplify phi1 into phi1 6.036 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.036 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.036 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.036 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 6.036 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.036 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.036 * [taylor]: Taking taylor expansion of phi1 in phi1 6.036 * [backup-simplify]: Simplify 0 into 0 6.036 * [backup-simplify]: Simplify 1 into 1 6.036 * [backup-simplify]: Simplify (/ 1 1) into 1 6.036 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.037 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 6.037 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 6.037 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 6.037 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 6.037 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 6.037 * [taylor]: Taking taylor expansion of delta in phi1 6.037 * [backup-simplify]: Simplify delta into delta 6.037 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.037 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.037 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.037 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 6.037 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 6.037 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 6.037 * [taylor]: Taking taylor expansion of theta in phi1 6.037 * [backup-simplify]: Simplify theta into theta 6.037 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.037 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.037 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.037 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 6.037 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.037 * [taylor]: Taking taylor expansion of phi1 in phi1 6.037 * [backup-simplify]: Simplify 0 into 0 6.037 * [backup-simplify]: Simplify 1 into 1 6.038 * [backup-simplify]: Simplify (/ 1 1) into 1 6.038 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.038 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 6.038 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 6.038 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 6.038 * [taylor]: Taking taylor expansion of delta in phi1 6.038 * [backup-simplify]: Simplify delta into delta 6.038 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.038 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.038 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.038 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.038 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.038 * [taylor]: Taking taylor expansion of phi1 in phi1 6.038 * [backup-simplify]: Simplify 0 into 0 6.038 * [backup-simplify]: Simplify 1 into 1 6.039 * [backup-simplify]: Simplify (/ 1 1) into 1 6.039 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.039 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 6.039 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 6.039 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.039 * [taylor]: Taking taylor expansion of phi1 in delta 6.039 * [backup-simplify]: Simplify phi1 into phi1 6.039 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.039 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.039 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.039 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 6.039 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 6.039 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 6.039 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 6.039 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 6.039 * [taylor]: Taking taylor expansion of delta in delta 6.039 * [backup-simplify]: Simplify 0 into 0 6.039 * [backup-simplify]: Simplify 1 into 1 6.040 * [backup-simplify]: Simplify (/ 1 1) into 1 6.040 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.040 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 6.040 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 6.040 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 6.040 * [taylor]: Taking taylor expansion of theta in delta 6.040 * [backup-simplify]: Simplify theta into theta 6.040 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.040 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.040 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.040 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 6.040 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.040 * [taylor]: Taking taylor expansion of phi1 in delta 6.040 * [backup-simplify]: Simplify phi1 into phi1 6.040 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.040 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.040 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.040 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 6.040 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 6.040 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 6.040 * [taylor]: Taking taylor expansion of delta in delta 6.041 * [backup-simplify]: Simplify 0 into 0 6.041 * [backup-simplify]: Simplify 1 into 1 6.041 * [backup-simplify]: Simplify (/ 1 1) into 1 6.041 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.041 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 6.041 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.041 * [taylor]: Taking taylor expansion of phi1 in delta 6.041 * [backup-simplify]: Simplify phi1 into phi1 6.041 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.041 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.041 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.041 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 6.041 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 6.041 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.041 * [taylor]: Taking taylor expansion of phi1 in delta 6.041 * [backup-simplify]: Simplify phi1 into phi1 6.042 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.042 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.042 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.042 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 6.042 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 6.042 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 6.042 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 6.042 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 6.042 * [taylor]: Taking taylor expansion of delta in delta 6.042 * [backup-simplify]: Simplify 0 into 0 6.042 * [backup-simplify]: Simplify 1 into 1 6.042 * [backup-simplify]: Simplify (/ 1 1) into 1 6.042 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.042 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 6.042 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 6.042 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 6.043 * [taylor]: Taking taylor expansion of theta in delta 6.043 * [backup-simplify]: Simplify theta into theta 6.043 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.043 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.043 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.043 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 6.043 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.043 * [taylor]: Taking taylor expansion of phi1 in delta 6.043 * [backup-simplify]: Simplify phi1 into phi1 6.043 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.043 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.043 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.043 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 6.043 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 6.043 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 6.043 * [taylor]: Taking taylor expansion of delta in delta 6.043 * [backup-simplify]: Simplify 0 into 0 6.043 * [backup-simplify]: Simplify 1 into 1 6.044 * [backup-simplify]: Simplify (/ 1 1) into 1 6.044 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.044 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 6.044 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.044 * [taylor]: Taking taylor expansion of phi1 in delta 6.044 * [backup-simplify]: Simplify phi1 into phi1 6.044 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.044 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.044 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.044 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.044 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.044 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.044 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 6.044 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 6.045 * [backup-simplify]: Simplify (- 0) into 0 6.045 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 6.045 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 6.045 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 6.046 * [backup-simplify]: Simplify (- 0) into 0 6.046 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 6.046 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 6.046 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 6.046 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.046 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.046 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.046 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 6.047 * [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))))) 6.048 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 6.048 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) in phi1 6.048 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 6.048 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 6.048 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.048 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.048 * [taylor]: Taking taylor expansion of phi1 in phi1 6.048 * [backup-simplify]: Simplify 0 into 0 6.048 * [backup-simplify]: Simplify 1 into 1 6.048 * [backup-simplify]: Simplify (/ 1 1) into 1 6.049 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.049 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 6.049 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 6.049 * [taylor]: Taking taylor expansion of delta in phi1 6.049 * [backup-simplify]: Simplify delta into delta 6.049 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.049 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.049 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.049 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 6.049 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 6.049 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.049 * [taylor]: Taking taylor expansion of phi1 in phi1 6.049 * [backup-simplify]: Simplify 0 into 0 6.049 * [backup-simplify]: Simplify 1 into 1 6.049 * [backup-simplify]: Simplify (/ 1 1) into 1 6.049 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.049 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 6.049 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 6.049 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 6.050 * [taylor]: Taking taylor expansion of theta in phi1 6.050 * [backup-simplify]: Simplify theta into theta 6.050 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.050 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.050 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.050 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 6.050 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 6.050 * [taylor]: Taking taylor expansion of delta in phi1 6.050 * [backup-simplify]: Simplify delta into delta 6.050 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.050 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.050 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.050 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.050 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.050 * [taylor]: Taking taylor expansion of phi1 in phi1 6.050 * [backup-simplify]: Simplify 0 into 0 6.050 * [backup-simplify]: Simplify 1 into 1 6.051 * [backup-simplify]: Simplify (/ 1 1) into 1 6.051 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.051 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 6.051 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 6.051 * [backup-simplify]: Simplify (- 0) into 0 6.051 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 6.051 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 6.051 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 6.052 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 6.052 * [backup-simplify]: Simplify (- 0) into 0 6.052 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 6.052 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 6.052 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 6.052 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 6.052 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 6.053 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 6.053 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 6.053 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 6.053 * [taylor]: Taking taylor expansion of (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 6.053 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 6.053 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 6.053 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 6.053 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.053 * [taylor]: Taking taylor expansion of delta in theta 6.054 * [backup-simplify]: Simplify delta into delta 6.054 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.054 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.054 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.054 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.054 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.054 * [taylor]: Taking taylor expansion of phi1 in theta 6.054 * [backup-simplify]: Simplify phi1 into phi1 6.054 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.054 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.054 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.054 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 6.054 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 6.054 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.054 * [taylor]: Taking taylor expansion of delta in theta 6.054 * [backup-simplify]: Simplify delta into delta 6.054 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.054 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.054 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.054 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 6.054 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 6.054 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 6.054 * [taylor]: Taking taylor expansion of theta in theta 6.054 * [backup-simplify]: Simplify 0 into 0 6.054 * [backup-simplify]: Simplify 1 into 1 6.055 * [backup-simplify]: Simplify (/ 1 1) into 1 6.055 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.055 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 6.055 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.055 * [taylor]: Taking taylor expansion of phi1 in theta 6.055 * [backup-simplify]: Simplify phi1 into phi1 6.055 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.055 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.055 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.055 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.055 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.055 * [taylor]: Taking taylor expansion of phi1 in theta 6.055 * [backup-simplify]: Simplify phi1 into phi1 6.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.056 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.056 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.056 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 6.056 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 6.056 * [backup-simplify]: Simplify (- 0) into 0 6.056 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 6.056 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.056 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.057 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.057 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 6.057 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 6.057 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 6.057 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 6.057 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 6.057 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 6.058 * [backup-simplify]: Simplify (- 0) into 0 6.058 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 6.058 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 6.058 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 6.058 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 6.058 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.058 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.058 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.059 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 6.059 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 6.060 * [backup-simplify]: Simplify (+ 0) into 0 6.060 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 6.061 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.062 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 6.062 * [backup-simplify]: Simplify (- 0) into 0 6.062 * [backup-simplify]: Simplify (+ 0 0) into 0 6.063 * [backup-simplify]: Simplify (+ 0) into 0 6.063 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 6.063 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 6.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.065 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 6.065 * [backup-simplify]: Simplify (- 0) into 0 6.065 * [backup-simplify]: Simplify (+ 0 0) into 0 6.066 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 6.066 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 6.066 * [backup-simplify]: Simplify (+ 0) into 0 6.067 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.067 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.068 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.068 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.069 * [backup-simplify]: Simplify (+ 0 0) into 0 6.069 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.069 * [backup-simplify]: Simplify (+ 0 0) into 0 6.070 * [backup-simplify]: Simplify (+ 0) into 0 6.070 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.070 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.071 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.072 * [backup-simplify]: Simplify (+ 0 0) into 0 6.072 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 6.072 * [taylor]: Taking taylor expansion of 0 in phi1 6.072 * [backup-simplify]: Simplify 0 into 0 6.072 * [taylor]: Taking taylor expansion of 0 in theta 6.072 * [backup-simplify]: Simplify 0 into 0 6.072 * [backup-simplify]: Simplify 0 into 0 6.073 * [backup-simplify]: Simplify (+ 0) into 0 6.073 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 6.073 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.075 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 6.075 * [backup-simplify]: Simplify (- 0) into 0 6.075 * [backup-simplify]: Simplify (+ 0 0) into 0 6.075 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 6.076 * [backup-simplify]: Simplify (+ 0) into 0 6.076 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 6.076 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.078 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 6.078 * [backup-simplify]: Simplify (+ 0 0) into 0 6.078 * [backup-simplify]: Simplify (+ 0) into 0 6.079 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 6.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 6.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.080 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 6.081 * [backup-simplify]: Simplify (- 0) into 0 6.081 * [backup-simplify]: Simplify (+ 0 0) into 0 6.081 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 6.081 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 6.082 * [backup-simplify]: Simplify (+ 0 0) into 0 6.082 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.082 * [taylor]: Taking taylor expansion of 0 in theta 6.082 * [backup-simplify]: Simplify 0 into 0 6.082 * [backup-simplify]: Simplify 0 into 0 6.083 * [backup-simplify]: Simplify (+ 0) into 0 6.083 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.083 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.085 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.085 * [backup-simplify]: Simplify (+ 0 0) into 0 6.085 * [backup-simplify]: Simplify (+ 0) into 0 6.086 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.086 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.087 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.088 * [backup-simplify]: Simplify (+ 0 0) into 0 6.088 * [backup-simplify]: Simplify (+ 0) into 0 6.089 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 6.089 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.091 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 6.091 * [backup-simplify]: Simplify (- 0) into 0 6.091 * [backup-simplify]: Simplify (+ 0 0) into 0 6.092 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.092 * [backup-simplify]: Simplify (+ 0) into 0 6.092 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 6.093 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.094 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 6.094 * [backup-simplify]: Simplify (- 0) into 0 6.095 * [backup-simplify]: Simplify (+ 0 0) into 0 6.095 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 6.095 * [backup-simplify]: Simplify (+ 0) into 0 6.096 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 6.096 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.097 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 6.097 * [backup-simplify]: Simplify (+ 0 0) into 0 6.098 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 6.098 * [backup-simplify]: Simplify (+ 0 0) into 0 6.098 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.098 * [backup-simplify]: Simplify 0 into 0 6.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.100 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.100 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.101 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.102 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.102 * [backup-simplify]: Simplify (- 0) into 0 6.102 * [backup-simplify]: Simplify (+ 0 0) into 0 6.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.104 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.104 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.105 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.106 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.106 * [backup-simplify]: Simplify (- 0) into 0 6.106 * [backup-simplify]: Simplify (+ 0 0) into 0 6.107 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 6.107 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 6.108 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.109 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.110 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.110 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.111 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.111 * [backup-simplify]: Simplify (+ 0 0) into 0 6.112 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.112 * [backup-simplify]: Simplify (+ 0 0) into 0 6.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.114 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.114 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.115 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.115 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.116 * [backup-simplify]: Simplify (+ 0 0) into 0 6.116 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 6.116 * [taylor]: Taking taylor expansion of 0 in phi1 6.116 * [backup-simplify]: Simplify 0 into 0 6.117 * [taylor]: Taking taylor expansion of 0 in theta 6.117 * [backup-simplify]: Simplify 0 into 0 6.117 * [backup-simplify]: Simplify 0 into 0 6.117 * [taylor]: Taking taylor expansion of 0 in theta 6.117 * [backup-simplify]: Simplify 0 into 0 6.117 * [backup-simplify]: Simplify 0 into 0 6.117 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.118 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.118 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.119 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.119 * [backup-simplify]: Simplify (- 0) into 0 6.119 * [backup-simplify]: Simplify (+ 0 0) into 0 6.120 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 6.120 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.121 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.121 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.121 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.122 * [backup-simplify]: Simplify (+ 0 0) into 0 6.122 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.123 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.123 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.123 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.124 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.124 * [backup-simplify]: Simplify (- 0) into 0 6.124 * [backup-simplify]: Simplify (+ 0 0) into 0 6.124 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 6.125 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 6.125 * [backup-simplify]: Simplify (+ 0 0) into 0 6.126 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.126 * [taylor]: Taking taylor expansion of 0 in theta 6.126 * [backup-simplify]: Simplify 0 into 0 6.126 * [backup-simplify]: Simplify 0 into 0 6.126 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))) (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 6.126 * [backup-simplify]: Simplify (* (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))) (sin (/ 1 (- phi1)))) into (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.126 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (delta phi1 theta) around 0 6.126 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 6.126 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.126 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.126 * [taylor]: Taking taylor expansion of -1 in theta 6.126 * [backup-simplify]: Simplify -1 into -1 6.126 * [taylor]: Taking taylor expansion of phi1 in theta 6.126 * [backup-simplify]: Simplify phi1 into phi1 6.126 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.126 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.127 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.127 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 6.127 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 6.127 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 6.127 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 6.127 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.127 * [taylor]: Taking taylor expansion of -1 in theta 6.127 * [backup-simplify]: Simplify -1 into -1 6.127 * [taylor]: Taking taylor expansion of delta in theta 6.127 * [backup-simplify]: Simplify delta into delta 6.127 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.127 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.127 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.127 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 6.127 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 6.127 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.127 * [taylor]: Taking taylor expansion of -1 in theta 6.127 * [backup-simplify]: Simplify -1 into -1 6.127 * [taylor]: Taking taylor expansion of phi1 in theta 6.127 * [backup-simplify]: Simplify phi1 into phi1 6.127 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.127 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.127 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.127 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 6.127 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 6.127 * [taylor]: Taking taylor expansion of -1 in theta 6.127 * [backup-simplify]: Simplify -1 into -1 6.127 * [taylor]: Taking taylor expansion of theta in theta 6.127 * [backup-simplify]: Simplify 0 into 0 6.127 * [backup-simplify]: Simplify 1 into 1 6.128 * [backup-simplify]: Simplify (/ -1 1) into -1 6.128 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.128 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 6.128 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.128 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.128 * [taylor]: Taking taylor expansion of -1 in theta 6.128 * [backup-simplify]: Simplify -1 into -1 6.128 * [taylor]: Taking taylor expansion of phi1 in theta 6.128 * [backup-simplify]: Simplify phi1 into phi1 6.128 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.128 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.128 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.128 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 6.128 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.128 * [taylor]: Taking taylor expansion of -1 in theta 6.128 * [backup-simplify]: Simplify -1 into -1 6.128 * [taylor]: Taking taylor expansion of delta in theta 6.128 * [backup-simplify]: Simplify delta into delta 6.128 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.128 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.128 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.128 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 6.128 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.128 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.128 * [taylor]: Taking taylor expansion of -1 in phi1 6.128 * [backup-simplify]: Simplify -1 into -1 6.128 * [taylor]: Taking taylor expansion of phi1 in phi1 6.128 * [backup-simplify]: Simplify 0 into 0 6.128 * [backup-simplify]: Simplify 1 into 1 6.129 * [backup-simplify]: Simplify (/ -1 1) into -1 6.129 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.129 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 6.129 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 6.129 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 6.129 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 6.129 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.129 * [taylor]: Taking taylor expansion of -1 in phi1 6.129 * [backup-simplify]: Simplify -1 into -1 6.129 * [taylor]: Taking taylor expansion of delta in phi1 6.129 * [backup-simplify]: Simplify delta into delta 6.129 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.129 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.129 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.129 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 6.129 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 6.129 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.129 * [taylor]: Taking taylor expansion of -1 in phi1 6.129 * [backup-simplify]: Simplify -1 into -1 6.129 * [taylor]: Taking taylor expansion of phi1 in phi1 6.129 * [backup-simplify]: Simplify 0 into 0 6.129 * [backup-simplify]: Simplify 1 into 1 6.130 * [backup-simplify]: Simplify (/ -1 1) into -1 6.130 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.130 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 6.130 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 6.130 * [taylor]: Taking taylor expansion of -1 in phi1 6.130 * [backup-simplify]: Simplify -1 into -1 6.130 * [taylor]: Taking taylor expansion of theta in phi1 6.130 * [backup-simplify]: Simplify theta into theta 6.130 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.130 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.130 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.130 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 6.130 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.130 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.130 * [taylor]: Taking taylor expansion of -1 in phi1 6.130 * [backup-simplify]: Simplify -1 into -1 6.130 * [taylor]: Taking taylor expansion of phi1 in phi1 6.130 * [backup-simplify]: Simplify 0 into 0 6.130 * [backup-simplify]: Simplify 1 into 1 6.130 * [backup-simplify]: Simplify (/ -1 1) into -1 6.130 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.130 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 6.130 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.130 * [taylor]: Taking taylor expansion of -1 in phi1 6.130 * [backup-simplify]: Simplify -1 into -1 6.130 * [taylor]: Taking taylor expansion of delta in phi1 6.130 * [backup-simplify]: Simplify delta into delta 6.130 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.130 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.130 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.130 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 6.130 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.131 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.131 * [taylor]: Taking taylor expansion of -1 in delta 6.131 * [backup-simplify]: Simplify -1 into -1 6.131 * [taylor]: Taking taylor expansion of phi1 in delta 6.131 * [backup-simplify]: Simplify phi1 into phi1 6.131 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.131 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.131 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.131 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 6.131 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 6.131 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 6.131 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 6.131 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.131 * [taylor]: Taking taylor expansion of -1 in delta 6.131 * [backup-simplify]: Simplify -1 into -1 6.131 * [taylor]: Taking taylor expansion of delta in delta 6.131 * [backup-simplify]: Simplify 0 into 0 6.131 * [backup-simplify]: Simplify 1 into 1 6.131 * [backup-simplify]: Simplify (/ -1 1) into -1 6.131 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.131 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 6.131 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 6.131 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.131 * [taylor]: Taking taylor expansion of -1 in delta 6.131 * [backup-simplify]: Simplify -1 into -1 6.131 * [taylor]: Taking taylor expansion of phi1 in delta 6.131 * [backup-simplify]: Simplify phi1 into phi1 6.131 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.131 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.131 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.131 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 6.131 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 6.131 * [taylor]: Taking taylor expansion of -1 in delta 6.131 * [backup-simplify]: Simplify -1 into -1 6.132 * [taylor]: Taking taylor expansion of theta in delta 6.132 * [backup-simplify]: Simplify theta into theta 6.132 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.132 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.132 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.132 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 6.132 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.132 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.132 * [taylor]: Taking taylor expansion of -1 in delta 6.132 * [backup-simplify]: Simplify -1 into -1 6.132 * [taylor]: Taking taylor expansion of phi1 in delta 6.132 * [backup-simplify]: Simplify phi1 into phi1 6.132 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.132 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.132 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.132 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 6.132 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.132 * [taylor]: Taking taylor expansion of -1 in delta 6.132 * [backup-simplify]: Simplify -1 into -1 6.132 * [taylor]: Taking taylor expansion of delta in delta 6.132 * [backup-simplify]: Simplify 0 into 0 6.132 * [backup-simplify]: Simplify 1 into 1 6.132 * [backup-simplify]: Simplify (/ -1 1) into -1 6.132 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.132 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 6.132 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.132 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.132 * [taylor]: Taking taylor expansion of -1 in delta 6.132 * [backup-simplify]: Simplify -1 into -1 6.132 * [taylor]: Taking taylor expansion of phi1 in delta 6.132 * [backup-simplify]: Simplify phi1 into phi1 6.132 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.133 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.133 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.133 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 6.133 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 6.133 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 6.133 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 6.133 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.133 * [taylor]: Taking taylor expansion of -1 in delta 6.133 * [backup-simplify]: Simplify -1 into -1 6.133 * [taylor]: Taking taylor expansion of delta in delta 6.133 * [backup-simplify]: Simplify 0 into 0 6.133 * [backup-simplify]: Simplify 1 into 1 6.133 * [backup-simplify]: Simplify (/ -1 1) into -1 6.133 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.133 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 6.133 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 6.133 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.133 * [taylor]: Taking taylor expansion of -1 in delta 6.133 * [backup-simplify]: Simplify -1 into -1 6.133 * [taylor]: Taking taylor expansion of phi1 in delta 6.133 * [backup-simplify]: Simplify phi1 into phi1 6.133 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.133 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.133 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.133 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 6.133 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 6.133 * [taylor]: Taking taylor expansion of -1 in delta 6.133 * [backup-simplify]: Simplify -1 into -1 6.133 * [taylor]: Taking taylor expansion of theta in delta 6.133 * [backup-simplify]: Simplify theta into theta 6.133 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.133 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.134 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.134 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 6.134 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.134 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.134 * [taylor]: Taking taylor expansion of -1 in delta 6.134 * [backup-simplify]: Simplify -1 into -1 6.134 * [taylor]: Taking taylor expansion of phi1 in delta 6.134 * [backup-simplify]: Simplify phi1 into phi1 6.134 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.134 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.134 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.134 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 6.134 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.134 * [taylor]: Taking taylor expansion of -1 in delta 6.134 * [backup-simplify]: Simplify -1 into -1 6.134 * [taylor]: Taking taylor expansion of delta in delta 6.134 * [backup-simplify]: Simplify 0 into 0 6.134 * [backup-simplify]: Simplify 1 into 1 6.134 * [backup-simplify]: Simplify (/ -1 1) into -1 6.134 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.134 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.134 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.134 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.134 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 6.135 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 6.135 * [backup-simplify]: Simplify (- 0) into 0 6.135 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 6.135 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 6.135 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 6.135 * [backup-simplify]: Simplify (- 0) into 0 6.135 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 6.135 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 6.135 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.135 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.136 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.136 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.136 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 6.136 * [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))))) 6.136 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 6.136 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 6.136 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.136 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.136 * [taylor]: Taking taylor expansion of -1 in phi1 6.136 * [backup-simplify]: Simplify -1 into -1 6.136 * [taylor]: Taking taylor expansion of phi1 in phi1 6.136 * [backup-simplify]: Simplify 0 into 0 6.136 * [backup-simplify]: Simplify 1 into 1 6.136 * [backup-simplify]: Simplify (/ -1 1) into -1 6.137 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.137 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in phi1 6.137 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 6.137 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.137 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.137 * [taylor]: Taking taylor expansion of -1 in phi1 6.137 * [backup-simplify]: Simplify -1 into -1 6.137 * [taylor]: Taking taylor expansion of phi1 in phi1 6.137 * [backup-simplify]: Simplify 0 into 0 6.137 * [backup-simplify]: Simplify 1 into 1 6.137 * [backup-simplify]: Simplify (/ -1 1) into -1 6.137 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.137 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 6.137 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.137 * [taylor]: Taking taylor expansion of -1 in phi1 6.137 * [backup-simplify]: Simplify -1 into -1 6.137 * [taylor]: Taking taylor expansion of delta in phi1 6.137 * [backup-simplify]: Simplify delta into delta 6.137 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.137 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.137 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.137 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 6.137 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 6.137 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.137 * [taylor]: Taking taylor expansion of -1 in phi1 6.137 * [backup-simplify]: Simplify -1 into -1 6.137 * [taylor]: Taking taylor expansion of phi1 in phi1 6.137 * [backup-simplify]: Simplify 0 into 0 6.137 * [backup-simplify]: Simplify 1 into 1 6.138 * [backup-simplify]: Simplify (/ -1 1) into -1 6.138 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.138 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 6.138 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 6.138 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 6.138 * [taylor]: Taking taylor expansion of -1 in phi1 6.138 * [backup-simplify]: Simplify -1 into -1 6.138 * [taylor]: Taking taylor expansion of theta in phi1 6.138 * [backup-simplify]: Simplify theta into theta 6.138 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.138 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.138 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.138 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 6.138 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.138 * [taylor]: Taking taylor expansion of -1 in phi1 6.138 * [backup-simplify]: Simplify -1 into -1 6.138 * [taylor]: Taking taylor expansion of delta in phi1 6.138 * [backup-simplify]: Simplify delta into delta 6.138 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.138 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.138 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.138 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 6.138 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 6.139 * [backup-simplify]: Simplify (- 0) into 0 6.139 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 6.139 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 6.139 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 6.139 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 6.139 * [backup-simplify]: Simplify (- 0) into 0 6.139 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 6.139 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 6.139 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 6.139 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 6.139 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 6.139 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 6.140 * [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)))) 6.140 * [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))))) 6.140 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 6.140 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.140 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.140 * [taylor]: Taking taylor expansion of -1 in theta 6.140 * [backup-simplify]: Simplify -1 into -1 6.140 * [taylor]: Taking taylor expansion of phi1 in theta 6.140 * [backup-simplify]: Simplify phi1 into phi1 6.140 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.140 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.140 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.140 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 6.140 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 6.140 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 6.140 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.140 * [taylor]: Taking taylor expansion of -1 in theta 6.140 * [backup-simplify]: Simplify -1 into -1 6.140 * [taylor]: Taking taylor expansion of phi1 in theta 6.140 * [backup-simplify]: Simplify phi1 into phi1 6.140 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.140 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.140 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.140 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 6.140 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 6.140 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.140 * [taylor]: Taking taylor expansion of -1 in theta 6.140 * [backup-simplify]: Simplify -1 into -1 6.140 * [taylor]: Taking taylor expansion of delta in theta 6.140 * [backup-simplify]: Simplify delta into delta 6.140 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.140 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.141 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.141 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 6.141 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 6.141 * [taylor]: Taking taylor expansion of -1 in theta 6.141 * [backup-simplify]: Simplify -1 into -1 6.141 * [taylor]: Taking taylor expansion of theta in theta 6.141 * [backup-simplify]: Simplify 0 into 0 6.141 * [backup-simplify]: Simplify 1 into 1 6.141 * [backup-simplify]: Simplify (/ -1 1) into -1 6.141 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.141 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 6.141 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.141 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.141 * [taylor]: Taking taylor expansion of -1 in theta 6.141 * [backup-simplify]: Simplify -1 into -1 6.141 * [taylor]: Taking taylor expansion of phi1 in theta 6.141 * [backup-simplify]: Simplify phi1 into phi1 6.141 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.141 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.141 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.141 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 6.141 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.141 * [taylor]: Taking taylor expansion of -1 in theta 6.141 * [backup-simplify]: Simplify -1 into -1 6.141 * [taylor]: Taking taylor expansion of delta in theta 6.141 * [backup-simplify]: Simplify delta into delta 6.141 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.141 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.142 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.142 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.142 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.142 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.142 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 6.142 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 6.142 * [backup-simplify]: Simplify (- 0) into 0 6.142 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 6.142 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 6.142 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 6.142 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 6.142 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 6.142 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.143 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.143 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.143 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.143 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 6.143 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 6.143 * [backup-simplify]: Simplify (- 0) into 0 6.143 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 6.143 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 6.143 * [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))))) 6.144 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 6.144 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 6.144 * [backup-simplify]: Simplify (+ 0) into 0 6.144 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 6.145 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 6.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.145 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 6.146 * [backup-simplify]: Simplify (- 0) into 0 6.146 * [backup-simplify]: Simplify (+ 0 0) into 0 6.146 * [backup-simplify]: Simplify (+ 0) into 0 6.146 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 6.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.147 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 6.148 * [backup-simplify]: Simplify (- 0) into 0 6.148 * [backup-simplify]: Simplify (+ 0 0) into 0 6.148 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 6.148 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 6.149 * [backup-simplify]: Simplify (+ 0) into 0 6.149 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.150 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.150 * [backup-simplify]: Simplify (+ 0 0) into 0 6.150 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 6.151 * [backup-simplify]: Simplify (+ 0 0) into 0 6.151 * [backup-simplify]: Simplify (+ 0) into 0 6.151 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.152 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.152 * [backup-simplify]: Simplify (+ 0 0) into 0 6.152 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 6.152 * [taylor]: Taking taylor expansion of 0 in phi1 6.152 * [backup-simplify]: Simplify 0 into 0 6.152 * [taylor]: Taking taylor expansion of 0 in theta 6.153 * [backup-simplify]: Simplify 0 into 0 6.153 * [backup-simplify]: Simplify 0 into 0 6.153 * [backup-simplify]: Simplify (+ 0) into 0 6.153 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 6.153 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.154 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 6.154 * [backup-simplify]: Simplify (- 0) into 0 6.154 * [backup-simplify]: Simplify (+ 0 0) into 0 6.155 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 6.155 * [backup-simplify]: Simplify (+ 0) into 0 6.155 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 6.155 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.156 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 6.156 * [backup-simplify]: Simplify (+ 0 0) into 0 6.156 * [backup-simplify]: Simplify (+ 0) into 0 6.157 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 6.157 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 6.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.161 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 6.161 * [backup-simplify]: Simplify (- 0) into 0 6.162 * [backup-simplify]: Simplify (+ 0 0) into 0 6.162 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 6.162 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 6.163 * [backup-simplify]: Simplify (+ 0 0) into 0 6.163 * [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 6.163 * [taylor]: Taking taylor expansion of 0 in theta 6.163 * [backup-simplify]: Simplify 0 into 0 6.163 * [backup-simplify]: Simplify 0 into 0 6.164 * [backup-simplify]: Simplify (+ 0) into 0 6.164 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 6.164 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.165 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 6.166 * [backup-simplify]: Simplify (+ 0 0) into 0 6.166 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 6.166 * [backup-simplify]: Simplify (+ 0) into 0 6.167 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 6.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.169 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 6.169 * [backup-simplify]: Simplify (- 0) into 0 6.169 * [backup-simplify]: Simplify (+ 0 0) into 0 6.170 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 6.170 * [backup-simplify]: Simplify (+ 0) into 0 6.170 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 6.171 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.172 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 6.172 * [backup-simplify]: Simplify (- 0) into 0 6.173 * [backup-simplify]: Simplify (+ 0 0) into 0 6.173 * [backup-simplify]: Simplify (+ 0) into 0 6.173 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.175 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.175 * [backup-simplify]: Simplify (+ 0 0) into 0 6.175 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 6.176 * [backup-simplify]: Simplify (+ 0 0) into 0 6.176 * [backup-simplify]: Simplify (+ 0) into 0 6.176 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.178 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.178 * [backup-simplify]: Simplify (+ 0 0) into 0 6.179 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 6.179 * [backup-simplify]: Simplify 0 into 0 6.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.180 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.180 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.182 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.182 * [backup-simplify]: Simplify (- 0) into 0 6.183 * [backup-simplify]: Simplify (+ 0 0) into 0 6.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.184 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.185 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.186 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.186 * [backup-simplify]: Simplify (- 0) into 0 6.187 * [backup-simplify]: Simplify (+ 0 0) into 0 6.187 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 6.188 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 6.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.190 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.191 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.192 * [backup-simplify]: Simplify (+ 0 0) into 0 6.192 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 6.193 * [backup-simplify]: Simplify (+ 0 0) into 0 6.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.194 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.194 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.195 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.195 * [backup-simplify]: Simplify (+ 0 0) into 0 6.195 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 6.195 * [taylor]: Taking taylor expansion of 0 in phi1 6.195 * [backup-simplify]: Simplify 0 into 0 6.195 * [taylor]: Taking taylor expansion of 0 in theta 6.195 * [backup-simplify]: Simplify 0 into 0 6.195 * [backup-simplify]: Simplify 0 into 0 6.195 * [taylor]: Taking taylor expansion of 0 in theta 6.195 * [backup-simplify]: Simplify 0 into 0 6.196 * [backup-simplify]: Simplify 0 into 0 6.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.196 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.197 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.197 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.197 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.198 * [backup-simplify]: Simplify (- 0) into 0 6.198 * [backup-simplify]: Simplify (+ 0 0) into 0 6.198 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 6.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.199 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.199 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.200 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.200 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.200 * [backup-simplify]: Simplify (+ 0 0) into 0 6.201 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.201 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.201 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.202 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.202 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.202 * [backup-simplify]: Simplify (- 0) into 0 6.203 * [backup-simplify]: Simplify (+ 0 0) into 0 6.203 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 6.203 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 6.204 * [backup-simplify]: Simplify (+ 0 0) into 0 6.204 * [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 6.204 * [taylor]: Taking taylor expansion of 0 in theta 6.204 * [backup-simplify]: Simplify 0 into 0 6.204 * [backup-simplify]: Simplify 0 into 0 6.205 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) (* (cos (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 6.205 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 1 1 2 1 1) 6.205 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.205 * [approximate]: Taking taylor expansion of (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in (delta phi1 theta) around 0 6.205 * [taylor]: Taking taylor expansion of (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 6.205 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.205 * [taylor]: Taking taylor expansion of (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 6.205 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.205 * [taylor]: Taking taylor expansion of (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 6.205 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.205 * [taylor]: Taking taylor expansion of (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 6.205 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.205 * [taylor]: Taking taylor expansion of (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 6.205 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.206 * [taylor]: Taking taylor expansion of (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 6.206 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.206 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.206 * [taylor]: Taking taylor expansion of 0 in phi1 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [taylor]: Taking taylor expansion of 0 in theta 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [taylor]: Taking taylor expansion of 0 in theta 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [taylor]: Taking taylor expansion of 0 in phi1 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [taylor]: Taking taylor expansion of 0 in theta 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [taylor]: Taking taylor expansion of 0 in theta 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [taylor]: Taking taylor expansion of 0 in theta 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [backup-simplify]: Simplify 0 into 0 6.206 * [backup-simplify]: Simplify (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.206 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 6.206 * [approximate]: Taking taylor expansion of (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in (delta phi1 theta) around 0 6.206 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 6.207 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 6.207 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 6.207 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 6.207 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 6.207 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 6.207 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 6.207 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 6.207 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 6.207 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 6.207 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 6.208 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 6.208 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 6.208 * [taylor]: Taking taylor expansion of 0 in phi1 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [taylor]: Taking taylor expansion of 0 in theta 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [taylor]: Taking taylor expansion of 0 in theta 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [taylor]: Taking taylor expansion of 0 in phi1 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [taylor]: Taking taylor expansion of 0 in theta 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [taylor]: Taking taylor expansion of 0 in theta 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [taylor]: Taking taylor expansion of 0 in theta 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))) (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1)))))) into (asin (fma (sin delta) (* (cos theta) (cos phi1)) (* (sin phi1) (cos delta)))) 6.209 * [backup-simplify]: Simplify (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.209 * [approximate]: Taking taylor expansion of (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (delta phi1 theta) around 0 6.209 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 6.209 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.209 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 6.209 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.209 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 6.209 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.209 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 6.209 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.209 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 6.209 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.210 * [taylor]: Taking taylor expansion of (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 6.210 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.210 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 6.210 * [taylor]: Taking taylor expansion of 0 in phi1 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [taylor]: Taking taylor expansion of 0 in theta 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [taylor]: Taking taylor expansion of 0 in theta 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [taylor]: Taking taylor expansion of 0 in phi1 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [taylor]: Taking taylor expansion of 0 in theta 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [taylor]: Taking taylor expansion of 0 in theta 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [taylor]: Taking taylor expansion of 0 in theta 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [backup-simplify]: Simplify 0 into 0 6.210 * [backup-simplify]: Simplify (asin (fma (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- theta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.211 * * * [progress]: simplifying candidates 6.211 * * * * [progress]: [ 1 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 2 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 3 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 4 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 5 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 6 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 7 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 8 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 9 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 10 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 11 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 12 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 13 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 14 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 15 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 16 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 17 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 18 / 90 ] simplifiying candidate # 6.211 * * * * [progress]: [ 19 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 20 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 21 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 22 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 23 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 24 / 90 ] simplifiying candidate #real (real->posit16 (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))))) lambda1))> 6.212 * * * * [progress]: [ 25 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 26 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 27 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 28 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 29 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 30 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 31 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 32 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 33 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 34 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 35 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 36 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 37 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 38 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 39 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 40 / 90 ] simplifiying candidate # 6.212 * * * * [progress]: [ 41 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 42 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 43 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 44 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 45 / 90 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))))) lambda1))> 6.213 * * * * [progress]: [ 46 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 47 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 48 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 49 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 50 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 51 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 52 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 53 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 54 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 55 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 56 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 57 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 58 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 59 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 60 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 61 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 62 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 63 / 90 ] simplifiying candidate # 6.213 * * * * [progress]: [ 64 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 65 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 66 / 90 ] simplifiying candidate #real (real->posit16 (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))))) lambda1))> 6.214 * * * * [progress]: [ 67 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 68 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 69 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 70 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 71 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 72 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 73 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 74 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 75 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 76 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 77 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 78 / 90 ] simplifiying candidate #real (real->posit16 (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (sin phi1)))))) lambda1))> 6.214 * * * * [progress]: [ 79 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 80 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 81 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 82 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 83 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 84 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 85 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 86 / 90 ] simplifiying candidate # 6.214 * * * * [progress]: [ 87 / 90 ] simplifiying candidate # 6.215 * * * * [progress]: [ 88 / 90 ] simplifiying candidate # 6.215 * * * * [progress]: [ 89 / 90 ] simplifiying candidate # 6.215 * * * * [progress]: [ 90 / 90 ] simplifiying candidate # 6.216 * [simplify]: Simplifying: (expm1 (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (log1p (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (log (exp (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (log (exp (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (log (exp (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (log (exp (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (log (exp (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (log (exp (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (log (exp (cos delta))) (log (exp (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (log (exp (cos delta))) (log (exp (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (log (* (cbrt (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (cbrt (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))))) (log (cbrt (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (log (sqrt (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (log (sqrt (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (log 1) (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (log (exp (cos delta))) (log (exp (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (log (exp (* (cbrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))))) (log (exp (sqrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (log (exp 1)) (log (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (exp (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (* (cbrt (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (cbrt (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))))) (cbrt (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (* (* (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (sqrt (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (sqrt (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (real->posit16 (log (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))))) (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (expm1 (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (log1p (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (/ (exp (cos delta)) (exp (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (log (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (exp (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (* (cbrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (cbrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (* (* (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (sqrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (sqrt (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (- (pow (cos delta) 3) (pow (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) 3)) (+ (* (cos delta) (cos delta)) (+ (* (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (* (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (cos delta) (cos delta)) (* (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (+ (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (real->posit16 (- (cos delta) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (expm1 (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (log1p (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (cos (- (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) phi1)) (cos (+ (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) phi1))) (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1)) (+ (log (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (log (sin phi1))) (log (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (exp (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1))) (* (* (* (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (sin (asin 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(asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (asin (fma (sin delta) (* (cos theta) (cos phi1)) (* (sin phi1) (cos delta)))) (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 6.218 * * [simplify]: iteration 1: (158 enodes) 6.271 * * [simplify]: iteration 2: (324 enodes) 6.427 * * [simplify]: iteration 3: (875 enodes) 7.271 * * [simplify]: Extracting #0: cost 56 inf + 0 7.272 * * [simplify]: Extracting #1: cost 224 inf + 2 7.273 * * [simplify]: Extracting #2: cost 376 inf + 8 7.276 * * [simplify]: Extracting #3: cost 301 inf + 10705 7.283 * * [simplify]: Extracting #4: cost 216 inf + 36311 7.308 * * [simplify]: Extracting #5: cost 98 inf + 112597 7.350 * * [simplify]: Extracting #6: cost 9 inf + 181295 7.414 * * [simplify]: Extracting #7: cost 0 inf + 188044 7.485 * * [simplify]: Extracting #8: cost 0 inf + 187964 7.553 * [simplify]: Simplified to: (expm1 (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin 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(sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sqrt (sin phi1))) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (* (cbrt (sin phi1)) (cbrt (sin phi1)))) (* (sqrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (* (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sin phi1)) (* (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sin phi1)) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)) (real->posit16 (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))) (expm1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (log1p (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (/ PI 2) (acos (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (log (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (exp (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (* (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (* (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (* (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (- 1 (* delta (+ (* delta 1/2) phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (sin phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (sin phi1))) (- 1 (* delta (+ (* delta 1/2) phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (sin phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (sin phi1))) (* phi1 (+ phi1 delta)) (* (fma (cos delta) (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (sin phi1)) (* (fma (cos delta) (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (sin phi1)) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 7.570 * * * [progress]: adding candidates to table 9.664 * * [progress]: iteration 3 / 4 9.665 * * * [progress]: picking best candidate 9.811 * * * * [pick]: Picked # 9.811 * * * [progress]: localizing error 9.951 * * * [progress]: generating rewritten candidates 9.951 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2 1 1 2) 9.952 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2) 9.971 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 1 1 1) 9.971 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 1 1 2 3) 9.984 * * * [progress]: generating series expansions 9.984 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2 1 1 2) 9.985 * [backup-simplify]: Simplify (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) into (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 9.985 * [approximate]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in (phi1 delta theta) around 0 9.985 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 9.985 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 9.985 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 9.985 * [taylor]: Taking taylor expansion of (- (sin phi1)) in theta 9.985 * [taylor]: Taking taylor expansion of (sin phi1) in theta 9.985 * [taylor]: Taking taylor expansion of phi1 in theta 9.985 * [backup-simplify]: Simplify phi1 into phi1 9.985 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.985 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.985 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 9.985 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.985 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 9.985 * [taylor]: Taking taylor expansion of (sin delta) in theta 9.985 * [taylor]: Taking taylor expansion of delta in theta 9.985 * [backup-simplify]: Simplify delta into delta 9.985 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.985 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.985 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 9.985 * [taylor]: Taking taylor expansion of (cos phi1) in theta 9.985 * [taylor]: Taking taylor expansion of phi1 in theta 9.985 * [backup-simplify]: Simplify phi1 into phi1 9.985 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.985 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.985 * [taylor]: Taking taylor expansion of (cos theta) in theta 9.985 * [taylor]: Taking taylor expansion of theta in theta 9.985 * [backup-simplify]: Simplify 0 into 0 9.985 * [backup-simplify]: Simplify 1 into 1 9.985 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 9.985 * [taylor]: Taking taylor expansion of (sin phi1) in theta 9.985 * [taylor]: Taking taylor expansion of phi1 in theta 9.985 * [backup-simplify]: Simplify phi1 into phi1 9.985 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.985 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.985 * [taylor]: Taking taylor expansion of (cos delta) in theta 9.986 * [taylor]: Taking taylor expansion of delta in theta 9.986 * [backup-simplify]: Simplify delta into delta 9.986 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.986 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.986 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 9.986 * [taylor]: Taking taylor expansion of (sin phi1) in theta 9.986 * [taylor]: Taking taylor expansion of phi1 in theta 9.986 * [backup-simplify]: Simplify phi1 into phi1 9.986 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.986 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.986 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 9.986 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.986 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 9.986 * [taylor]: Taking taylor expansion of (sin delta) in theta 9.986 * [taylor]: Taking taylor expansion of delta in theta 9.986 * [backup-simplify]: Simplify delta into delta 9.986 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.986 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.986 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 9.986 * [taylor]: Taking taylor expansion of (cos phi1) in theta 9.986 * [taylor]: Taking taylor expansion of phi1 in theta 9.986 * [backup-simplify]: Simplify phi1 into phi1 9.986 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.986 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.986 * [taylor]: Taking taylor expansion of (cos theta) in theta 9.986 * [taylor]: Taking taylor expansion of theta in theta 9.986 * [backup-simplify]: Simplify 0 into 0 9.986 * [backup-simplify]: Simplify 1 into 1 9.986 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 9.986 * [taylor]: Taking taylor expansion of (sin phi1) in theta 9.986 * [taylor]: Taking taylor expansion of phi1 in theta 9.986 * [backup-simplify]: Simplify phi1 into phi1 9.986 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.986 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.986 * [taylor]: Taking taylor expansion of (cos delta) in theta 9.986 * [taylor]: Taking taylor expansion of delta in theta 9.986 * [backup-simplify]: Simplify delta into delta 9.987 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.987 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.987 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 9.987 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 9.987 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 9.987 * [taylor]: Taking taylor expansion of (- (sin phi1)) in delta 9.987 * [taylor]: Taking taylor expansion of (sin phi1) in delta 9.987 * [taylor]: Taking taylor expansion of phi1 in delta 9.987 * [backup-simplify]: Simplify phi1 into phi1 9.987 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.987 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.987 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 9.987 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.987 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 9.987 * [taylor]: Taking taylor expansion of (sin delta) in delta 9.987 * [taylor]: Taking taylor expansion of delta in delta 9.987 * [backup-simplify]: Simplify 0 into 0 9.987 * [backup-simplify]: Simplify 1 into 1 9.987 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 9.987 * [taylor]: Taking taylor expansion of (cos phi1) in delta 9.987 * [taylor]: Taking taylor expansion of phi1 in delta 9.987 * [backup-simplify]: Simplify phi1 into phi1 9.987 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.987 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.987 * [taylor]: Taking taylor expansion of (cos theta) in delta 9.987 * [taylor]: Taking taylor expansion of theta in delta 9.987 * [backup-simplify]: Simplify theta into theta 9.987 * [backup-simplify]: Simplify (cos theta) into (cos theta) 9.987 * [backup-simplify]: Simplify (sin theta) into (sin theta) 9.988 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 9.988 * [taylor]: Taking taylor expansion of (sin phi1) in delta 9.988 * [taylor]: Taking taylor expansion of phi1 in delta 9.988 * [backup-simplify]: Simplify phi1 into phi1 9.988 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.988 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.988 * [taylor]: Taking taylor expansion of (cos delta) in delta 9.988 * [taylor]: Taking taylor expansion of delta in delta 9.988 * [backup-simplify]: Simplify 0 into 0 9.988 * [backup-simplify]: Simplify 1 into 1 9.988 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 9.988 * [taylor]: Taking taylor expansion of (sin phi1) in delta 9.988 * [taylor]: Taking taylor expansion of phi1 in delta 9.988 * [backup-simplify]: Simplify phi1 into phi1 9.988 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.988 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.988 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 9.988 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.988 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 9.988 * [taylor]: Taking taylor expansion of (sin delta) in delta 9.988 * [taylor]: Taking taylor expansion of delta in delta 9.988 * [backup-simplify]: Simplify 0 into 0 9.988 * [backup-simplify]: Simplify 1 into 1 9.988 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 9.988 * [taylor]: Taking taylor expansion of (cos phi1) in delta 9.988 * [taylor]: Taking taylor expansion of phi1 in delta 9.988 * [backup-simplify]: Simplify phi1 into phi1 9.988 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.988 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.988 * [taylor]: Taking taylor expansion of (cos theta) in delta 9.988 * [taylor]: Taking taylor expansion of theta in delta 9.988 * [backup-simplify]: Simplify theta into theta 9.988 * [backup-simplify]: Simplify (cos theta) into (cos theta) 9.988 * [backup-simplify]: Simplify (sin theta) into (sin theta) 9.988 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 9.988 * [taylor]: Taking taylor expansion of (sin phi1) in delta 9.988 * [taylor]: Taking taylor expansion of phi1 in delta 9.988 * [backup-simplify]: Simplify phi1 into phi1 9.988 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 9.988 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 9.988 * [taylor]: Taking taylor expansion of (cos delta) in delta 9.988 * [taylor]: Taking taylor expansion of delta in delta 9.988 * [backup-simplify]: Simplify 0 into 0 9.988 * [backup-simplify]: Simplify 1 into 1 9.988 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 9.988 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 9.988 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 9.988 * [taylor]: Taking taylor expansion of (- (sin phi1)) in phi1 9.988 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.988 * [taylor]: Taking taylor expansion of phi1 in phi1 9.989 * [backup-simplify]: Simplify 0 into 0 9.989 * [backup-simplify]: Simplify 1 into 1 9.989 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 9.989 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.989 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 9.989 * [taylor]: Taking taylor expansion of (sin delta) in phi1 9.989 * [taylor]: Taking taylor expansion of delta in phi1 9.989 * [backup-simplify]: Simplify delta into delta 9.989 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.989 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.989 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 9.989 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 9.989 * [taylor]: Taking taylor expansion of phi1 in phi1 9.989 * [backup-simplify]: Simplify 0 into 0 9.989 * [backup-simplify]: Simplify 1 into 1 9.989 * [taylor]: Taking taylor expansion of (cos theta) in phi1 9.989 * [taylor]: Taking taylor expansion of theta in phi1 9.989 * [backup-simplify]: Simplify theta into theta 9.989 * [backup-simplify]: Simplify (cos theta) into (cos theta) 9.989 * [backup-simplify]: Simplify (sin theta) into (sin theta) 9.989 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 9.989 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.989 * [taylor]: Taking taylor expansion of phi1 in phi1 9.989 * [backup-simplify]: Simplify 0 into 0 9.989 * [backup-simplify]: Simplify 1 into 1 9.989 * [taylor]: Taking taylor expansion of (cos delta) in phi1 9.989 * [taylor]: Taking taylor expansion of delta in phi1 9.989 * [backup-simplify]: Simplify delta into delta 9.989 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.989 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.989 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 9.989 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.989 * [taylor]: Taking taylor expansion of phi1 in phi1 9.989 * [backup-simplify]: Simplify 0 into 0 9.989 * [backup-simplify]: Simplify 1 into 1 9.989 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 9.989 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.989 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 9.989 * [taylor]: Taking taylor expansion of (sin delta) in phi1 9.989 * [taylor]: Taking taylor expansion of delta in phi1 9.989 * [backup-simplify]: Simplify delta into delta 9.989 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.989 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.989 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 9.989 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 9.989 * [taylor]: Taking taylor expansion of phi1 in phi1 9.989 * [backup-simplify]: Simplify 0 into 0 9.989 * [backup-simplify]: Simplify 1 into 1 9.989 * [taylor]: Taking taylor expansion of (cos theta) in phi1 9.989 * [taylor]: Taking taylor expansion of theta in phi1 9.989 * [backup-simplify]: Simplify theta into theta 9.989 * [backup-simplify]: Simplify (cos theta) into (cos theta) 9.989 * [backup-simplify]: Simplify (sin theta) into (sin theta) 9.989 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 9.989 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.989 * [taylor]: Taking taylor expansion of phi1 in phi1 9.989 * [backup-simplify]: Simplify 0 into 0 9.990 * [backup-simplify]: Simplify 1 into 1 9.990 * [taylor]: Taking taylor expansion of (cos delta) in phi1 9.990 * [taylor]: Taking taylor expansion of delta in phi1 9.990 * [backup-simplify]: Simplify delta into delta 9.990 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.990 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.990 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 9.990 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 9.990 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 9.990 * [taylor]: Taking taylor expansion of (- (sin phi1)) in phi1 9.990 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.990 * [taylor]: Taking taylor expansion of phi1 in phi1 9.990 * [backup-simplify]: Simplify 0 into 0 9.990 * [backup-simplify]: Simplify 1 into 1 9.990 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 9.990 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.990 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 9.990 * [taylor]: Taking taylor expansion of (sin delta) in phi1 9.990 * [taylor]: Taking taylor expansion of delta in phi1 9.990 * [backup-simplify]: Simplify delta into delta 9.990 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.990 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.990 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 9.990 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 9.990 * [taylor]: Taking taylor expansion of phi1 in phi1 9.990 * [backup-simplify]: Simplify 0 into 0 9.990 * [backup-simplify]: Simplify 1 into 1 9.990 * [taylor]: Taking taylor expansion of (cos theta) in phi1 9.990 * [taylor]: Taking taylor expansion of theta in phi1 9.990 * [backup-simplify]: Simplify theta into theta 9.990 * [backup-simplify]: Simplify (cos theta) into (cos theta) 9.990 * [backup-simplify]: Simplify (sin theta) into (sin theta) 9.990 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 9.990 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.990 * [taylor]: Taking taylor expansion of phi1 in phi1 9.990 * [backup-simplify]: Simplify 0 into 0 9.990 * [backup-simplify]: Simplify 1 into 1 9.990 * [taylor]: Taking taylor expansion of (cos delta) in phi1 9.990 * [taylor]: Taking taylor expansion of delta in phi1 9.990 * [backup-simplify]: Simplify delta into delta 9.990 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.990 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.990 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 9.990 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.990 * [taylor]: Taking taylor expansion of phi1 in phi1 9.990 * [backup-simplify]: Simplify 0 into 0 9.990 * [backup-simplify]: Simplify 1 into 1 9.990 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 9.990 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 9.990 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 9.990 * [taylor]: Taking taylor expansion of (sin delta) in phi1 9.990 * [taylor]: Taking taylor expansion of delta in phi1 9.990 * [backup-simplify]: Simplify delta into delta 9.990 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.990 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.990 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 9.991 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 9.991 * [taylor]: Taking taylor expansion of phi1 in phi1 9.991 * [backup-simplify]: Simplify 0 into 0 9.991 * [backup-simplify]: Simplify 1 into 1 9.991 * [taylor]: Taking taylor expansion of (cos theta) in phi1 9.991 * [taylor]: Taking taylor expansion of theta in phi1 9.991 * [backup-simplify]: Simplify theta into theta 9.991 * [backup-simplify]: Simplify (cos theta) into (cos theta) 9.991 * [backup-simplify]: Simplify (sin theta) into (sin theta) 9.991 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 9.991 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 9.991 * [taylor]: Taking taylor expansion of phi1 in phi1 9.991 * [backup-simplify]: Simplify 0 into 0 9.991 * [backup-simplify]: Simplify 1 into 1 9.991 * [taylor]: Taking taylor expansion of (cos delta) in phi1 9.991 * [taylor]: Taking taylor expansion of delta in phi1 9.991 * [backup-simplify]: Simplify delta into delta 9.991 * [backup-simplify]: Simplify (cos delta) into (cos delta) 9.991 * [backup-simplify]: Simplify (sin delta) into (sin delta) 9.991 * [backup-simplify]: Simplify (- 0) into 0 9.992 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 9.992 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 9.992 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 9.992 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 9.992 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 9.992 * [backup-simplify]: Simplify (- 0) into 0 9.992 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 9.992 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 9.992 * [backup-simplify]: Simplify (* (sin delta) (cos theta)) into (* (sin delta) (cos theta)) 9.992 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 9.992 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 9.993 * [backup-simplify]: Simplify (- 0) into 0 9.993 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 9.993 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 9.993 * [backup-simplify]: Simplify (+ (* (sin delta) (cos theta)) 0) into (* (sin delta) (cos theta)) 9.993 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 9.993 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 9.993 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 9.993 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 9.993 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 9.993 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 9.993 * [backup-simplify]: Simplify (- 0) into 0 9.993 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 9.993 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 9.993 * [backup-simplify]: Simplify (* (sin delta) (cos theta)) into (* (sin delta) (cos theta)) 9.993 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 9.993 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 9.994 * [backup-simplify]: Simplify (- 0) into 0 9.994 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 9.994 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 9.994 * [backup-simplify]: Simplify (+ (* (sin delta) (cos theta)) 0) into (* (sin delta) (cos theta)) 9.994 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 9.994 * [backup-simplify]: Simplify (+ 0 0) into 0 9.994 * [taylor]: Taking taylor expansion of 0 in delta 9.994 * [backup-simplify]: Simplify 0 into 0 9.994 * [taylor]: Taking taylor expansion of 0 in theta 9.994 * [backup-simplify]: Simplify 0 into 0 9.994 * [backup-simplify]: Simplify 0 into 0 9.995 * [backup-simplify]: Simplify (- 0) into 0 9.995 * [backup-simplify]: Simplify (+ 0) into 0 9.995 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 9.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.996 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 9.996 * [backup-simplify]: Simplify (- 0) into 0 9.997 * [backup-simplify]: Simplify (+ 0 0) into 0 9.997 * [backup-simplify]: Simplify (+ 0) into 0 9.997 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 9.998 * [backup-simplify]: Simplify (+ 0) into 0 9.998 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 9.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.999 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 10.000 * [backup-simplify]: Simplify (+ 0 0) into 0 10.000 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 (cos theta))) into 0 10.000 * [backup-simplify]: Simplify (+ 0) into 0 10.001 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 10.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.002 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 10.002 * [backup-simplify]: Simplify (- 0) into 0 10.003 * [backup-simplify]: Simplify (+ 0 0) into 0 10.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.004 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 10.004 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 10.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.005 * [backup-simplify]: Simplify (- 1) into -1 10.005 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* -1 (* (sin delta) (cos theta)))) into (- (* (sin delta) (cos theta))) 10.006 * [backup-simplify]: Simplify (+ 0) into 0 10.006 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 10.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.007 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 10.007 * [backup-simplify]: Simplify (- 0) into 0 10.008 * [backup-simplify]: Simplify (+ 0 0) into 0 10.008 * [backup-simplify]: Simplify (+ 0) into 0 10.009 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 10.009 * [backup-simplify]: Simplify (+ 0) into 0 10.010 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 10.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.011 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 10.011 * [backup-simplify]: Simplify (+ 0 0) into 0 10.011 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 (cos theta))) into 0 10.011 * [backup-simplify]: Simplify (+ 0) into 0 10.012 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 10.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.013 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 10.013 * [backup-simplify]: Simplify (- 0) into 0 10.014 * [backup-simplify]: Simplify (+ 0 0) into 0 10.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.015 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 10.015 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 10.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.016 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (sin delta) (cos theta)))) into (* (sin delta) (cos theta)) 10.016 * [backup-simplify]: Simplify (+ (- (* (sin delta) (cos theta))) (* (sin delta) (cos theta))) into 0 10.016 * [taylor]: Taking taylor expansion of 0 in delta 10.016 * [backup-simplify]: Simplify 0 into 0 10.016 * [taylor]: Taking taylor expansion of 0 in theta 10.016 * [backup-simplify]: Simplify 0 into 0 10.016 * [backup-simplify]: Simplify 0 into 0 10.016 * [taylor]: Taking taylor expansion of 0 in theta 10.016 * [backup-simplify]: Simplify 0 into 0 10.016 * [backup-simplify]: Simplify 0 into 0 10.016 * [backup-simplify]: Simplify 0 into 0 10.017 * [backup-simplify]: Simplify (- 0) into 0 10.017 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.018 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 10.019 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.020 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 10.020 * [backup-simplify]: Simplify (- 0) into 0 10.020 * [backup-simplify]: Simplify (+ 0 0) into 0 10.021 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.022 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (cos theta)))) into (- (* 1/2 (cos theta))) 10.023 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.024 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 10.025 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.025 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 10.026 * [backup-simplify]: Simplify (+ 0 0) into 0 10.026 * [backup-simplify]: Simplify (+ (* (sin delta) (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta)))) into (- (* 1/2 (* (sin delta) (cos theta)))) 10.027 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.028 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 10.029 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.029 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 10.030 * [backup-simplify]: Simplify (- 0) into 0 10.030 * [backup-simplify]: Simplify (+ 0 0) into 0 10.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.032 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 10.032 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (sin delta) (cos theta)))) 0) into (- (* 1/2 (* (sin delta) (cos theta)))) 10.032 * [backup-simplify]: Simplify (- 1) into -1 10.033 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.033 * [backup-simplify]: Simplify (- 0) into 0 10.034 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* -1 (cos delta)) (* 0 (* (sin delta) (cos theta))))) into (- (cos delta)) 10.035 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.035 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 10.036 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.037 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 10.037 * [backup-simplify]: Simplify (- 0) into 0 10.037 * [backup-simplify]: Simplify (+ 0 0) into 0 10.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.039 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (cos theta)))) into (- (* 1/2 (cos theta))) 10.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.041 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 10.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.042 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 10.043 * [backup-simplify]: Simplify (+ 0 0) into 0 10.043 * [backup-simplify]: Simplify (+ (* (sin delta) (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta)))) into (- (* 1/2 (* (sin delta) (cos theta)))) 10.044 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.045 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 10.046 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.046 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 10.047 * [backup-simplify]: Simplify (- 0) into 0 10.047 * [backup-simplify]: Simplify (+ 0 0) into 0 10.048 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.049 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 10.049 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (sin delta) (cos theta)))) 0) into (- (* 1/2 (* (sin delta) (cos theta)))) 10.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.050 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 1 (cos delta)) (* 0 (* (sin delta) (cos theta))))) into (cos delta) 10.050 * [backup-simplify]: Simplify (+ (- (cos delta)) (cos delta)) into 0 10.050 * [taylor]: Taking taylor expansion of 0 in delta 10.050 * [backup-simplify]: Simplify 0 into 0 10.050 * [taylor]: Taking taylor expansion of 0 in theta 10.050 * [backup-simplify]: Simplify 0 into 0 10.050 * [backup-simplify]: Simplify 0 into 0 10.050 * [taylor]: Taking taylor expansion of 0 in theta 10.050 * [backup-simplify]: Simplify 0 into 0 10.050 * [backup-simplify]: Simplify 0 into 0 10.050 * [backup-simplify]: Simplify 0 into 0 10.051 * [backup-simplify]: Simplify (fma (- (sin (/ 1 phi1))) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))) (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))))) into (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.051 * [approximate]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in (phi1 delta theta) around 0 10.051 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in theta 10.051 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.051 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 10.051 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in theta 10.051 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.051 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.051 * [taylor]: Taking taylor expansion of phi1 in theta 10.051 * [backup-simplify]: Simplify phi1 into phi1 10.051 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.051 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.052 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.052 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 10.052 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.052 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 10.052 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.052 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.052 * [taylor]: Taking taylor expansion of delta in theta 10.052 * [backup-simplify]: Simplify delta into delta 10.052 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.052 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.052 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.052 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 10.052 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.052 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.052 * [taylor]: Taking taylor expansion of theta in theta 10.052 * [backup-simplify]: Simplify 0 into 0 10.052 * [backup-simplify]: Simplify 1 into 1 10.056 * [backup-simplify]: Simplify (/ 1 1) into 1 10.056 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.056 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.056 * [taylor]: Taking taylor expansion of phi1 in theta 10.056 * [backup-simplify]: Simplify phi1 into phi1 10.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.056 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.056 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.056 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 10.056 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.056 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.056 * [taylor]: Taking taylor expansion of delta in theta 10.056 * [backup-simplify]: Simplify delta into delta 10.056 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.056 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.056 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.056 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.056 * [taylor]: Taking taylor expansion of phi1 in theta 10.056 * [backup-simplify]: Simplify phi1 into phi1 10.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.056 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.056 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.056 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 10.056 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 10.057 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.057 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 10.057 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.057 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.057 * [taylor]: Taking taylor expansion of delta in theta 10.057 * [backup-simplify]: Simplify delta into delta 10.057 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.057 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.057 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.057 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 10.057 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.057 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.057 * [taylor]: Taking taylor expansion of theta in theta 10.057 * [backup-simplify]: Simplify 0 into 0 10.057 * [backup-simplify]: Simplify 1 into 1 10.057 * [backup-simplify]: Simplify (/ 1 1) into 1 10.057 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.057 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.057 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.057 * [taylor]: Taking taylor expansion of phi1 in theta 10.057 * [backup-simplify]: Simplify phi1 into phi1 10.057 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.057 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.058 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.058 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 10.058 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.058 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.058 * [taylor]: Taking taylor expansion of delta in theta 10.058 * [backup-simplify]: Simplify delta into delta 10.058 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.058 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.058 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.058 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.058 * [taylor]: Taking taylor expansion of phi1 in theta 10.058 * [backup-simplify]: Simplify phi1 into phi1 10.058 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.058 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.058 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.058 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.058 * [taylor]: Taking taylor expansion of phi1 in theta 10.058 * [backup-simplify]: Simplify phi1 into phi1 10.058 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.058 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.058 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.058 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 10.058 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.058 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 10.058 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in delta 10.058 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.058 * [taylor]: Taking taylor expansion of phi1 in delta 10.058 * [backup-simplify]: Simplify phi1 into phi1 10.058 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.058 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.058 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.058 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.058 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.058 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.058 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.058 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.058 * [taylor]: Taking taylor expansion of delta in delta 10.059 * [backup-simplify]: Simplify 0 into 0 10.059 * [backup-simplify]: Simplify 1 into 1 10.059 * [backup-simplify]: Simplify (/ 1 1) into 1 10.059 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.059 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.059 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.059 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.059 * [taylor]: Taking taylor expansion of theta in delta 10.059 * [backup-simplify]: Simplify theta into theta 10.059 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.059 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.059 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.059 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.059 * [taylor]: Taking taylor expansion of phi1 in delta 10.059 * [backup-simplify]: Simplify phi1 into phi1 10.059 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.059 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.059 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.059 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.059 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.059 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.059 * [taylor]: Taking taylor expansion of delta in delta 10.059 * [backup-simplify]: Simplify 0 into 0 10.059 * [backup-simplify]: Simplify 1 into 1 10.060 * [backup-simplify]: Simplify (/ 1 1) into 1 10.060 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.060 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.060 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.060 * [taylor]: Taking taylor expansion of phi1 in delta 10.060 * [backup-simplify]: Simplify phi1 into phi1 10.060 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.060 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.060 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.060 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 10.060 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.060 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.060 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.060 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.060 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.060 * [taylor]: Taking taylor expansion of delta in delta 10.060 * [backup-simplify]: Simplify 0 into 0 10.060 * [backup-simplify]: Simplify 1 into 1 10.060 * [backup-simplify]: Simplify (/ 1 1) into 1 10.060 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.060 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.060 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.060 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.060 * [taylor]: Taking taylor expansion of theta in delta 10.060 * [backup-simplify]: Simplify theta into theta 10.060 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.060 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.061 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.061 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.061 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.061 * [taylor]: Taking taylor expansion of phi1 in delta 10.061 * [backup-simplify]: Simplify phi1 into phi1 10.061 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.061 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.061 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.061 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.061 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.061 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.061 * [taylor]: Taking taylor expansion of delta in delta 10.061 * [backup-simplify]: Simplify 0 into 0 10.061 * [backup-simplify]: Simplify 1 into 1 10.061 * [backup-simplify]: Simplify (/ 1 1) into 1 10.061 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.061 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.061 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.061 * [taylor]: Taking taylor expansion of phi1 in delta 10.061 * [backup-simplify]: Simplify phi1 into phi1 10.061 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.061 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.061 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.061 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.061 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.061 * [taylor]: Taking taylor expansion of phi1 in delta 10.061 * [backup-simplify]: Simplify phi1 into phi1 10.061 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.061 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.061 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.062 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 10.062 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.062 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 10.062 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in phi1 10.062 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.062 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.062 * [taylor]: Taking taylor expansion of phi1 in phi1 10.062 * [backup-simplify]: Simplify 0 into 0 10.062 * [backup-simplify]: Simplify 1 into 1 10.062 * [backup-simplify]: Simplify (/ 1 1) into 1 10.062 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.062 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.062 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.062 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.062 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.062 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.062 * [taylor]: Taking taylor expansion of delta in phi1 10.062 * [backup-simplify]: Simplify delta into delta 10.062 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.062 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.062 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.062 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.062 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.062 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.062 * [taylor]: Taking taylor expansion of theta in phi1 10.062 * [backup-simplify]: Simplify theta into theta 10.062 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.062 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.062 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.062 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.062 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.062 * [taylor]: Taking taylor expansion of phi1 in phi1 10.062 * [backup-simplify]: Simplify 0 into 0 10.063 * [backup-simplify]: Simplify 1 into 1 10.063 * [backup-simplify]: Simplify (/ 1 1) into 1 10.063 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.063 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.063 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.063 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.063 * [taylor]: Taking taylor expansion of delta in phi1 10.063 * [backup-simplify]: Simplify delta into delta 10.063 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.063 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.063 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.063 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.063 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.063 * [taylor]: Taking taylor expansion of phi1 in phi1 10.063 * [backup-simplify]: Simplify 0 into 0 10.063 * [backup-simplify]: Simplify 1 into 1 10.063 * [backup-simplify]: Simplify (/ 1 1) into 1 10.063 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.063 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 10.063 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.063 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.063 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.063 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.064 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.064 * [taylor]: Taking taylor expansion of delta in phi1 10.064 * [backup-simplify]: Simplify delta into delta 10.064 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.064 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.064 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.064 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.064 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.064 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.064 * [taylor]: Taking taylor expansion of theta in phi1 10.064 * [backup-simplify]: Simplify theta into theta 10.064 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.064 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.064 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.064 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.064 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.064 * [taylor]: Taking taylor expansion of phi1 in phi1 10.064 * [backup-simplify]: Simplify 0 into 0 10.064 * [backup-simplify]: Simplify 1 into 1 10.064 * [backup-simplify]: Simplify (/ 1 1) into 1 10.064 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.064 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.064 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.064 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.064 * [taylor]: Taking taylor expansion of delta in phi1 10.064 * [backup-simplify]: Simplify delta into delta 10.064 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.064 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.064 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.064 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.064 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.064 * [taylor]: Taking taylor expansion of phi1 in phi1 10.064 * [backup-simplify]: Simplify 0 into 0 10.065 * [backup-simplify]: Simplify 1 into 1 10.065 * [backup-simplify]: Simplify (/ 1 1) into 1 10.065 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.065 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.065 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.065 * [taylor]: Taking taylor expansion of phi1 in phi1 10.065 * [backup-simplify]: Simplify 0 into 0 10.065 * [backup-simplify]: Simplify 1 into 1 10.065 * [backup-simplify]: Simplify (/ 1 1) into 1 10.065 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.065 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 10.065 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.065 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 10.065 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in phi1 10.065 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.065 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.065 * [taylor]: Taking taylor expansion of phi1 in phi1 10.065 * [backup-simplify]: Simplify 0 into 0 10.065 * [backup-simplify]: Simplify 1 into 1 10.066 * [backup-simplify]: Simplify (/ 1 1) into 1 10.066 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.066 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.066 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.066 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.066 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.066 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.066 * [taylor]: Taking taylor expansion of delta in phi1 10.066 * [backup-simplify]: Simplify delta into delta 10.066 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.066 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.066 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.066 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.066 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.066 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.066 * [taylor]: Taking taylor expansion of theta in phi1 10.066 * [backup-simplify]: Simplify theta into theta 10.066 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.066 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.066 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.066 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.066 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.066 * [taylor]: Taking taylor expansion of phi1 in phi1 10.066 * [backup-simplify]: Simplify 0 into 0 10.066 * [backup-simplify]: Simplify 1 into 1 10.066 * [backup-simplify]: Simplify (/ 1 1) into 1 10.066 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.067 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.067 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.067 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.067 * [taylor]: Taking taylor expansion of delta in phi1 10.067 * [backup-simplify]: Simplify delta into delta 10.067 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.067 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.067 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.067 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.067 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.067 * [taylor]: Taking taylor expansion of phi1 in phi1 10.067 * [backup-simplify]: Simplify 0 into 0 10.067 * [backup-simplify]: Simplify 1 into 1 10.067 * [backup-simplify]: Simplify (/ 1 1) into 1 10.067 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.067 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 10.067 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.067 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.067 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.067 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.067 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.067 * [taylor]: Taking taylor expansion of delta in phi1 10.067 * [backup-simplify]: Simplify delta into delta 10.067 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.067 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.067 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.067 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.067 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.067 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.067 * [taylor]: Taking taylor expansion of theta in phi1 10.067 * [backup-simplify]: Simplify theta into theta 10.067 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.067 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.068 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.068 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.068 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.068 * [taylor]: Taking taylor expansion of phi1 in phi1 10.068 * [backup-simplify]: Simplify 0 into 0 10.068 * [backup-simplify]: Simplify 1 into 1 10.068 * [backup-simplify]: Simplify (/ 1 1) into 1 10.068 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.068 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.068 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.068 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.068 * [taylor]: Taking taylor expansion of delta in phi1 10.068 * [backup-simplify]: Simplify delta into delta 10.068 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.068 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.068 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.068 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.068 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.068 * [taylor]: Taking taylor expansion of phi1 in phi1 10.068 * [backup-simplify]: Simplify 0 into 0 10.068 * [backup-simplify]: Simplify 1 into 1 10.068 * [backup-simplify]: Simplify (/ 1 1) into 1 10.068 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.069 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.069 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.069 * [taylor]: Taking taylor expansion of phi1 in phi1 10.069 * [backup-simplify]: Simplify 0 into 0 10.069 * [backup-simplify]: Simplify 1 into 1 10.069 * [backup-simplify]: Simplify (/ 1 1) into 1 10.069 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.069 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 10.069 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 10.069 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 10.069 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 10.069 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.069 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.070 * [backup-simplify]: Simplify (- 0) into 0 10.070 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.070 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 10.070 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.070 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.070 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.070 * [backup-simplify]: Simplify (- 0) into 0 10.070 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.070 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 10.070 * [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))))) 10.071 * [backup-simplify]: Simplify (* (- (sin (/ 1 phi1))) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) 10.071 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 10.071 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 10.071 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 10.071 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.071 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.071 * [backup-simplify]: Simplify (- 0) into 0 10.071 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.071 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 10.071 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.071 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.071 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.072 * [backup-simplify]: Simplify (- 0) into 0 10.072 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.072 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 10.072 * [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))))) 10.072 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 10.073 * [backup-simplify]: Simplify (+ (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.073 * [taylor]: Taking taylor expansion of (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in delta 10.073 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 10.073 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in delta 10.073 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.073 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.073 * [taylor]: Taking taylor expansion of phi1 in delta 10.073 * [backup-simplify]: Simplify phi1 into phi1 10.073 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.073 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.073 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.073 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in delta 10.073 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.073 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.073 * [taylor]: Taking taylor expansion of phi1 in delta 10.073 * [backup-simplify]: Simplify phi1 into phi1 10.073 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.073 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.073 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.073 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in delta 10.073 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.073 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.073 * [taylor]: Taking taylor expansion of theta in delta 10.073 * [backup-simplify]: Simplify theta into theta 10.073 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.073 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.073 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.073 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.074 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.074 * [taylor]: Taking taylor expansion of delta in delta 10.074 * [backup-simplify]: Simplify 0 into 0 10.074 * [backup-simplify]: Simplify 1 into 1 10.074 * [backup-simplify]: Simplify (/ 1 1) into 1 10.074 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.074 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 10.074 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 10.074 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.074 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.074 * [taylor]: Taking taylor expansion of phi1 in delta 10.074 * [backup-simplify]: Simplify phi1 into phi1 10.074 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.074 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.074 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.074 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.074 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.074 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.074 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.074 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.074 * [taylor]: Taking taylor expansion of delta in delta 10.074 * [backup-simplify]: Simplify 0 into 0 10.074 * [backup-simplify]: Simplify 1 into 1 10.075 * [backup-simplify]: Simplify (/ 1 1) into 1 10.075 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.075 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in delta 10.075 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 10.075 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.075 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.075 * [taylor]: Taking taylor expansion of phi1 in delta 10.075 * [backup-simplify]: Simplify phi1 into phi1 10.075 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.075 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.075 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.075 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.075 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.075 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.075 * [taylor]: Taking taylor expansion of delta in delta 10.075 * [backup-simplify]: Simplify 0 into 0 10.075 * [backup-simplify]: Simplify 1 into 1 10.075 * [backup-simplify]: Simplify (/ 1 1) into 1 10.075 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.075 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.075 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.075 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.075 * [taylor]: Taking taylor expansion of theta in delta 10.075 * [backup-simplify]: Simplify theta into theta 10.075 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.075 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.076 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.076 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.076 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.076 * [taylor]: Taking taylor expansion of phi1 in delta 10.076 * [backup-simplify]: Simplify phi1 into phi1 10.076 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.076 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.076 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.076 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in delta 10.076 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.076 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.076 * [taylor]: Taking taylor expansion of delta in delta 10.076 * [backup-simplify]: Simplify 0 into 0 10.076 * [backup-simplify]: Simplify 1 into 1 10.076 * [backup-simplify]: Simplify (/ 1 1) into 1 10.076 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.076 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 10.076 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.076 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.076 * [taylor]: Taking taylor expansion of phi1 in delta 10.076 * [backup-simplify]: Simplify phi1 into phi1 10.076 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.076 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.076 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.076 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.076 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.076 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.077 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.077 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.077 * [backup-simplify]: Simplify (- 0) into 0 10.077 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.077 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.077 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.077 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.077 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.077 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.077 * [backup-simplify]: Simplify (- 0) into 0 10.077 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.078 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 10.078 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 10.078 * [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))))) 10.078 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 10.078 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 10.078 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 10.078 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.078 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.078 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.078 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.079 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.079 * [backup-simplify]: Simplify (- 0) into 0 10.079 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.079 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.079 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.079 * [backup-simplify]: Simplify (- 0) into 0 10.079 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.079 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 10.079 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.080 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 10.080 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 10.080 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 10.080 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 10.080 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.081 * [backup-simplify]: Simplify (+ (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.081 * [taylor]: Taking taylor expansion of (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 10.081 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 10.081 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 10.081 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.081 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.081 * [taylor]: Taking taylor expansion of phi1 in theta 10.081 * [backup-simplify]: Simplify phi1 into phi1 10.081 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.081 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.081 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.081 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 10.081 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.081 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.081 * [taylor]: Taking taylor expansion of delta in theta 10.081 * [backup-simplify]: Simplify delta into delta 10.081 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.081 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.081 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.082 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 10.082 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.082 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.082 * [taylor]: Taking taylor expansion of theta in theta 10.082 * [backup-simplify]: Simplify 0 into 0 10.082 * [backup-simplify]: Simplify 1 into 1 10.082 * [backup-simplify]: Simplify (/ 1 1) into 1 10.082 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.082 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.082 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.082 * [taylor]: Taking taylor expansion of phi1 in theta 10.082 * [backup-simplify]: Simplify phi1 into phi1 10.082 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.082 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.082 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.082 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 10.082 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 10.082 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.082 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.082 * [taylor]: Taking taylor expansion of phi1 in theta 10.082 * [backup-simplify]: Simplify phi1 into phi1 10.082 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.082 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.082 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.082 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.083 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.083 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.083 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.083 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.083 * [taylor]: Taking taylor expansion of delta in theta 10.083 * [backup-simplify]: Simplify delta into delta 10.083 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.083 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.083 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.083 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 10.083 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in theta 10.083 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.083 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.083 * [taylor]: Taking taylor expansion of phi1 in theta 10.083 * [backup-simplify]: Simplify phi1 into phi1 10.083 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.083 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.083 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.083 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 10.083 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.083 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.083 * [taylor]: Taking taylor expansion of phi1 in theta 10.083 * [backup-simplify]: Simplify phi1 into phi1 10.083 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.083 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.083 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.083 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 10.083 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.083 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.083 * [taylor]: Taking taylor expansion of theta in theta 10.083 * [backup-simplify]: Simplify 0 into 0 10.083 * [backup-simplify]: Simplify 1 into 1 10.084 * [backup-simplify]: Simplify (/ 1 1) into 1 10.084 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.084 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.084 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.084 * [taylor]: Taking taylor expansion of delta in theta 10.084 * [backup-simplify]: Simplify delta into delta 10.084 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.084 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.084 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.084 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 10.084 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.084 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.084 * [taylor]: Taking taylor expansion of delta in theta 10.084 * [backup-simplify]: Simplify delta into delta 10.084 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.084 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.084 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.084 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 10.084 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.084 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.084 * [taylor]: Taking taylor expansion of phi1 in theta 10.084 * [backup-simplify]: Simplify phi1 into phi1 10.084 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.084 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.084 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.084 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.084 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.084 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.084 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.085 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.085 * [backup-simplify]: Simplify (- 0) into 0 10.085 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.085 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 10.085 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 10.085 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 10.085 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.085 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.085 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.085 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 10.085 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.085 * [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))))) 10.086 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 10.086 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.086 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.086 * [backup-simplify]: Simplify (- 0) into 0 10.086 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.086 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 10.086 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 10.086 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.086 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.087 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.087 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.087 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.087 * [backup-simplify]: Simplify (- 0) into 0 10.087 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.087 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 10.087 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 10.087 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 10.087 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 10.087 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 10.087 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 10.088 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.088 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.088 * [backup-simplify]: Simplify (- 0) into 0 10.088 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.088 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 10.088 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 10.088 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 10.089 * [backup-simplify]: Simplify (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.089 * [backup-simplify]: Simplify (+ (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.090 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 10.090 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 10.090 * [backup-simplify]: Simplify (+ 0) into 0 10.091 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.091 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.092 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.092 * [backup-simplify]: Simplify (- 0) into 0 10.092 * [backup-simplify]: Simplify (+ 0 0) into 0 10.092 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 10.092 * [backup-simplify]: Simplify (+ 0) into 0 10.093 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 10.093 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.094 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 10.094 * [backup-simplify]: Simplify (+ 0 0) into 0 10.094 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 10.094 * [backup-simplify]: Simplify (+ 0) into 0 10.094 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.095 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.095 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.096 * [backup-simplify]: Simplify (- 0) into 0 10.096 * [backup-simplify]: Simplify (+ 0 0) into 0 10.096 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.096 * [backup-simplify]: Simplify (+ 0 0) into 0 10.096 * [backup-simplify]: Simplify (- 0) into 0 10.097 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 10.097 * [backup-simplify]: Simplify (+ 0) into 0 10.098 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.098 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.099 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.099 * [backup-simplify]: Simplify (- 0) into 0 10.100 * [backup-simplify]: Simplify (+ 0 0) into 0 10.100 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 10.101 * [backup-simplify]: Simplify (+ 0) into 0 10.101 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 10.101 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.103 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 10.103 * [backup-simplify]: Simplify (+ 0 0) into 0 10.103 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 10.104 * [backup-simplify]: Simplify (+ 0) into 0 10.104 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.104 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.106 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.106 * [backup-simplify]: Simplify (- 0) into 0 10.106 * [backup-simplify]: Simplify (+ 0 0) into 0 10.107 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.107 * [backup-simplify]: Simplify (+ 0 0) into 0 10.107 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.108 * [backup-simplify]: Simplify (+ 0 0) into 0 10.108 * [taylor]: Taking taylor expansion of 0 in delta 10.108 * [backup-simplify]: Simplify 0 into 0 10.108 * [taylor]: Taking taylor expansion of 0 in theta 10.108 * [backup-simplify]: Simplify 0 into 0 10.108 * [backup-simplify]: Simplify 0 into 0 10.108 * [backup-simplify]: Simplify (+ 0) into 0 10.109 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.109 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.110 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.111 * [backup-simplify]: Simplify (- 0) into 0 10.111 * [backup-simplify]: Simplify (+ 0 0) into 0 10.111 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 10.112 * [backup-simplify]: Simplify (+ 0) into 0 10.112 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.112 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.114 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.114 * [backup-simplify]: Simplify (+ 0 0) into 0 10.115 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 10.115 * [backup-simplify]: Simplify (+ 0) into 0 10.116 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.116 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.117 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.117 * [backup-simplify]: Simplify (- 0) into 0 10.118 * [backup-simplify]: Simplify (+ 0 0) into 0 10.118 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 10.118 * [backup-simplify]: Simplify (+ 0) into 0 10.119 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.119 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.120 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.121 * [backup-simplify]: Simplify (+ 0 0) into 0 10.121 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.121 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 10.121 * [backup-simplify]: Simplify (+ 0 0) into 0 10.122 * [backup-simplify]: Simplify (+ 0) into 0 10.122 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.122 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.124 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.124 * [backup-simplify]: Simplify (- 0) into 0 10.124 * [backup-simplify]: Simplify (+ 0 0) into 0 10.125 * [backup-simplify]: Simplify (+ 0) into 0 10.125 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.125 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.127 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.127 * [backup-simplify]: Simplify (- 0) into 0 10.127 * [backup-simplify]: Simplify (+ 0 0) into 0 10.128 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 10.128 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 10.128 * [backup-simplify]: Simplify (+ 0) into 0 10.129 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.130 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.130 * [backup-simplify]: Simplify (+ 0 0) into 0 10.131 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 10.131 * [backup-simplify]: Simplify (+ 0) into 0 10.132 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.133 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.133 * [backup-simplify]: Simplify (+ 0 0) into 0 10.133 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.134 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 10.134 * [backup-simplify]: Simplify (+ 0 0) into 0 10.134 * [backup-simplify]: Simplify (- 0) into 0 10.135 * [backup-simplify]: Simplify (+ 0 0) into 0 10.135 * [taylor]: Taking taylor expansion of 0 in theta 10.135 * [backup-simplify]: Simplify 0 into 0 10.135 * [backup-simplify]: Simplify 0 into 0 10.135 * [backup-simplify]: Simplify (+ 0) into 0 10.136 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.136 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.137 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.138 * [backup-simplify]: Simplify (+ 0 0) into 0 10.138 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.138 * [backup-simplify]: Simplify (+ 0) into 0 10.139 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 10.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.140 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 10.140 * [backup-simplify]: Simplify (+ 0 0) into 0 10.140 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 10.141 * [backup-simplify]: Simplify (+ 0) into 0 10.141 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.141 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.142 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.142 * [backup-simplify]: Simplify (- 0) into 0 10.142 * [backup-simplify]: Simplify (+ 0 0) into 0 10.143 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 10.143 * [backup-simplify]: Simplify (+ 0) into 0 10.143 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.143 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.144 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.144 * [backup-simplify]: Simplify (- 0) into 0 10.144 * [backup-simplify]: Simplify (+ 0 0) into 0 10.145 * [backup-simplify]: Simplify (+ 0) into 0 10.145 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.145 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.146 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.146 * [backup-simplify]: Simplify (+ 0 0) into 0 10.146 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.146 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 10.147 * [backup-simplify]: Simplify (+ 0 0) into 0 10.147 * [backup-simplify]: Simplify (+ 0) into 0 10.147 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 10.147 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.148 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 10.148 * [backup-simplify]: Simplify (+ 0 0) into 0 10.148 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 10.149 * [backup-simplify]: Simplify (+ 0) into 0 10.149 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.149 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.150 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.150 * [backup-simplify]: Simplify (- 0) into 0 10.150 * [backup-simplify]: Simplify (+ 0 0) into 0 10.150 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 10.151 * [backup-simplify]: Simplify (+ 0) into 0 10.151 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.151 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.152 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.152 * [backup-simplify]: Simplify (+ 0 0) into 0 10.152 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.152 * [backup-simplify]: Simplify (+ 0) into 0 10.153 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.153 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.154 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.154 * [backup-simplify]: Simplify (+ 0 0) into 0 10.154 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.154 * [backup-simplify]: Simplify (+ 0) into 0 10.154 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.154 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.155 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.156 * [backup-simplify]: Simplify (- 0) into 0 10.156 * [backup-simplify]: Simplify (+ 0 0) into 0 10.156 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 10.156 * [backup-simplify]: Simplify (+ 0 0) into 0 10.156 * [backup-simplify]: Simplify (- 0) into 0 10.157 * [backup-simplify]: Simplify (+ 0 0) into 0 10.157 * [backup-simplify]: Simplify 0 into 0 10.157 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 10.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.158 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.158 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.158 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.159 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.159 * [backup-simplify]: Simplify (- 0) into 0 10.159 * [backup-simplify]: Simplify (+ 0 0) into 0 10.159 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 10.160 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.160 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.161 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.161 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.162 * [backup-simplify]: Simplify (+ 0 0) into 0 10.162 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.163 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.164 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.164 * [backup-simplify]: Simplify (- 0) into 0 10.165 * [backup-simplify]: Simplify (+ 0 0) into 0 10.165 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.165 * [backup-simplify]: Simplify (+ 0 0) into 0 10.165 * [backup-simplify]: Simplify (- 0) into 0 10.166 * [backup-simplify]: Simplify (- 0) into 0 10.166 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 10.170 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.171 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.171 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.172 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.172 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.173 * [backup-simplify]: Simplify (- 0) into 0 10.173 * [backup-simplify]: Simplify (+ 0 0) into 0 10.173 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 10.174 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.175 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.175 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.176 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.176 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.177 * [backup-simplify]: Simplify (+ 0 0) into 0 10.177 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.178 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.178 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.179 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.180 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.180 * [backup-simplify]: Simplify (- 0) into 0 10.180 * [backup-simplify]: Simplify (+ 0 0) into 0 10.181 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.181 * [backup-simplify]: Simplify (+ 0 0) into 0 10.182 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.182 * [backup-simplify]: Simplify (+ 0 0) into 0 10.182 * [taylor]: Taking taylor expansion of 0 in delta 10.182 * [backup-simplify]: Simplify 0 into 0 10.182 * [taylor]: Taking taylor expansion of 0 in theta 10.182 * [backup-simplify]: Simplify 0 into 0 10.182 * [backup-simplify]: Simplify 0 into 0 10.182 * [taylor]: Taking taylor expansion of 0 in theta 10.182 * [backup-simplify]: Simplify 0 into 0 10.182 * [backup-simplify]: Simplify 0 into 0 10.183 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.184 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.184 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.185 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.186 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.186 * [backup-simplify]: Simplify (- 0) into 0 10.186 * [backup-simplify]: Simplify (+ 0 0) into 0 10.187 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 10.188 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.189 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.189 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.189 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.189 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.190 * [backup-simplify]: Simplify (+ 0 0) into 0 10.190 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 10.191 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.191 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.191 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.192 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.192 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.192 * [backup-simplify]: Simplify (- 0) into 0 10.192 * [backup-simplify]: Simplify (+ 0 0) into 0 10.193 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 10.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.194 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.194 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.194 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.195 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.195 * [backup-simplify]: Simplify (+ 0 0) into 0 10.195 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.196 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 10.196 * [backup-simplify]: Simplify (+ 0 0) into 0 10.197 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.197 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.197 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.198 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.198 * [backup-simplify]: Simplify (- 0) into 0 10.199 * [backup-simplify]: Simplify (+ 0 0) into 0 10.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.200 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.200 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.200 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.201 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.201 * [backup-simplify]: Simplify (- 0) into 0 10.201 * [backup-simplify]: Simplify (+ 0 0) into 0 10.201 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 10.202 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.202 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.203 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.203 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.203 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.204 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.204 * [backup-simplify]: Simplify (+ 0 0) into 0 10.204 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 10.205 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.205 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.205 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.206 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.206 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.207 * [backup-simplify]: Simplify (+ 0 0) into 0 10.207 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.207 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 10.207 * [backup-simplify]: Simplify (+ 0 0) into 0 10.208 * [backup-simplify]: Simplify (- 0) into 0 10.208 * [backup-simplify]: Simplify (+ 0 0) into 0 10.208 * [taylor]: Taking taylor expansion of 0 in theta 10.208 * [backup-simplify]: Simplify 0 into 0 10.208 * [backup-simplify]: Simplify 0 into 0 10.209 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2))) (+ (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))) (* (cos phi1) (* (sin delta) (* (cos theta) (sin phi1))))) 10.209 * [backup-simplify]: Simplify (fma (- (sin (/ 1 (- phi1)))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))))) into (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.209 * [approximate]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (phi1 delta theta) around 0 10.209 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 10.209 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.209 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 10.209 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in theta 10.209 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.209 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.209 * [taylor]: Taking taylor expansion of -1 in theta 10.210 * [backup-simplify]: Simplify -1 into -1 10.210 * [taylor]: Taking taylor expansion of phi1 in theta 10.210 * [backup-simplify]: Simplify phi1 into phi1 10.210 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.210 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.210 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.210 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 10.210 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.210 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 10.210 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.210 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.210 * [taylor]: Taking taylor expansion of -1 in theta 10.210 * [backup-simplify]: Simplify -1 into -1 10.210 * [taylor]: Taking taylor expansion of delta in theta 10.210 * [backup-simplify]: Simplify delta into delta 10.210 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.210 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.210 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.210 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 10.210 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.210 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.210 * [taylor]: Taking taylor expansion of -1 in theta 10.210 * [backup-simplify]: Simplify -1 into -1 10.210 * [taylor]: Taking taylor expansion of phi1 in theta 10.210 * [backup-simplify]: Simplify phi1 into phi1 10.210 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.210 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.210 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.210 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.210 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.210 * [taylor]: Taking taylor expansion of -1 in theta 10.210 * [backup-simplify]: Simplify -1 into -1 10.210 * [taylor]: Taking taylor expansion of theta in theta 10.210 * [backup-simplify]: Simplify 0 into 0 10.210 * [backup-simplify]: Simplify 1 into 1 10.211 * [backup-simplify]: Simplify (/ -1 1) into -1 10.211 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.211 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 10.211 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.211 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.211 * [taylor]: Taking taylor expansion of -1 in theta 10.211 * [backup-simplify]: Simplify -1 into -1 10.211 * [taylor]: Taking taylor expansion of phi1 in theta 10.211 * [backup-simplify]: Simplify phi1 into phi1 10.211 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.211 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.211 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.211 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.211 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.211 * [taylor]: Taking taylor expansion of -1 in theta 10.211 * [backup-simplify]: Simplify -1 into -1 10.211 * [taylor]: Taking taylor expansion of delta in theta 10.211 * [backup-simplify]: Simplify delta into delta 10.211 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.211 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.211 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.211 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 10.211 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.211 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.211 * [taylor]: Taking taylor expansion of -1 in theta 10.211 * [backup-simplify]: Simplify -1 into -1 10.211 * [taylor]: Taking taylor expansion of phi1 in theta 10.211 * [backup-simplify]: Simplify phi1 into phi1 10.211 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.211 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.211 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.211 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 10.211 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.211 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 10.211 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.211 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.211 * [taylor]: Taking taylor expansion of -1 in theta 10.211 * [backup-simplify]: Simplify -1 into -1 10.212 * [taylor]: Taking taylor expansion of delta in theta 10.212 * [backup-simplify]: Simplify delta into delta 10.212 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.212 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.212 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.212 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 10.212 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.212 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.212 * [taylor]: Taking taylor expansion of -1 in theta 10.212 * [backup-simplify]: Simplify -1 into -1 10.212 * [taylor]: Taking taylor expansion of phi1 in theta 10.212 * [backup-simplify]: Simplify phi1 into phi1 10.212 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.212 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.212 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.212 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.212 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.212 * [taylor]: Taking taylor expansion of -1 in theta 10.212 * [backup-simplify]: Simplify -1 into -1 10.212 * [taylor]: Taking taylor expansion of theta in theta 10.212 * [backup-simplify]: Simplify 0 into 0 10.212 * [backup-simplify]: Simplify 1 into 1 10.212 * [backup-simplify]: Simplify (/ -1 1) into -1 10.212 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.212 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 10.212 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.212 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.212 * [taylor]: Taking taylor expansion of -1 in theta 10.212 * [backup-simplify]: Simplify -1 into -1 10.212 * [taylor]: Taking taylor expansion of phi1 in theta 10.212 * [backup-simplify]: Simplify phi1 into phi1 10.213 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.213 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.213 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.213 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.213 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.213 * [taylor]: Taking taylor expansion of -1 in theta 10.213 * [backup-simplify]: Simplify -1 into -1 10.213 * [taylor]: Taking taylor expansion of delta in theta 10.213 * [backup-simplify]: Simplify delta into delta 10.213 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.213 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.213 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.213 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 10.213 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.213 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.213 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in delta 10.213 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.213 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.213 * [taylor]: Taking taylor expansion of -1 in delta 10.213 * [backup-simplify]: Simplify -1 into -1 10.213 * [taylor]: Taking taylor expansion of phi1 in delta 10.213 * [backup-simplify]: Simplify phi1 into phi1 10.213 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.213 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.213 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.213 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.213 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.213 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.213 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.213 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.213 * [taylor]: Taking taylor expansion of -1 in delta 10.213 * [backup-simplify]: Simplify -1 into -1 10.213 * [taylor]: Taking taylor expansion of delta in delta 10.213 * [backup-simplify]: Simplify 0 into 0 10.213 * [backup-simplify]: Simplify 1 into 1 10.214 * [backup-simplify]: Simplify (/ -1 1) into -1 10.214 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.214 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.214 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.214 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.214 * [taylor]: Taking taylor expansion of -1 in delta 10.214 * [backup-simplify]: Simplify -1 into -1 10.214 * [taylor]: Taking taylor expansion of phi1 in delta 10.214 * [backup-simplify]: Simplify phi1 into phi1 10.214 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.214 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.214 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.214 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.214 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.214 * [taylor]: Taking taylor expansion of -1 in delta 10.214 * [backup-simplify]: Simplify -1 into -1 10.214 * [taylor]: Taking taylor expansion of theta in delta 10.214 * [backup-simplify]: Simplify theta into theta 10.214 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.214 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.214 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.214 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.214 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.214 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.214 * [taylor]: Taking taylor expansion of -1 in delta 10.214 * [backup-simplify]: Simplify -1 into -1 10.214 * [taylor]: Taking taylor expansion of phi1 in delta 10.214 * [backup-simplify]: Simplify phi1 into phi1 10.215 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.215 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.215 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.215 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.215 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.215 * [taylor]: Taking taylor expansion of -1 in delta 10.215 * [backup-simplify]: Simplify -1 into -1 10.215 * [taylor]: Taking taylor expansion of delta in delta 10.215 * [backup-simplify]: Simplify 0 into 0 10.215 * [backup-simplify]: Simplify 1 into 1 10.215 * [backup-simplify]: Simplify (/ -1 1) into -1 10.215 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.215 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.215 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.215 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.215 * [taylor]: Taking taylor expansion of -1 in delta 10.215 * [backup-simplify]: Simplify -1 into -1 10.215 * [taylor]: Taking taylor expansion of phi1 in delta 10.215 * [backup-simplify]: Simplify phi1 into phi1 10.215 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.215 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.215 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.215 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.215 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.215 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.215 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.215 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.215 * [taylor]: Taking taylor expansion of -1 in delta 10.215 * [backup-simplify]: Simplify -1 into -1 10.215 * [taylor]: Taking taylor expansion of delta in delta 10.215 * [backup-simplify]: Simplify 0 into 0 10.215 * [backup-simplify]: Simplify 1 into 1 10.216 * [backup-simplify]: Simplify (/ -1 1) into -1 10.216 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.216 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.216 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.216 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.216 * [taylor]: Taking taylor expansion of -1 in delta 10.216 * [backup-simplify]: Simplify -1 into -1 10.216 * [taylor]: Taking taylor expansion of phi1 in delta 10.216 * [backup-simplify]: Simplify phi1 into phi1 10.216 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.216 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.216 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.216 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.216 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.216 * [taylor]: Taking taylor expansion of -1 in delta 10.216 * [backup-simplify]: Simplify -1 into -1 10.216 * [taylor]: Taking taylor expansion of theta in delta 10.216 * [backup-simplify]: Simplify theta into theta 10.216 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.216 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.216 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.216 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.216 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.216 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.216 * [taylor]: Taking taylor expansion of -1 in delta 10.216 * [backup-simplify]: Simplify -1 into -1 10.216 * [taylor]: Taking taylor expansion of phi1 in delta 10.216 * [backup-simplify]: Simplify phi1 into phi1 10.216 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.216 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.216 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.216 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.217 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.217 * [taylor]: Taking taylor expansion of -1 in delta 10.217 * [backup-simplify]: Simplify -1 into -1 10.217 * [taylor]: Taking taylor expansion of delta in delta 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [backup-simplify]: Simplify 1 into 1 10.217 * [backup-simplify]: Simplify (/ -1 1) into -1 10.217 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.217 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 10.217 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.217 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 10.217 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in phi1 10.217 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.217 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.217 * [taylor]: Taking taylor expansion of -1 in phi1 10.217 * [backup-simplify]: Simplify -1 into -1 10.217 * [taylor]: Taking taylor expansion of phi1 in phi1 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [backup-simplify]: Simplify 1 into 1 10.217 * [backup-simplify]: Simplify (/ -1 1) into -1 10.217 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.218 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 10.218 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.218 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 10.218 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.218 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.218 * [taylor]: Taking taylor expansion of -1 in phi1 10.218 * [backup-simplify]: Simplify -1 into -1 10.218 * [taylor]: Taking taylor expansion of delta in phi1 10.218 * [backup-simplify]: Simplify delta into delta 10.218 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.218 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.218 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.218 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 10.218 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.218 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.218 * [taylor]: Taking taylor expansion of -1 in phi1 10.218 * [backup-simplify]: Simplify -1 into -1 10.218 * [taylor]: Taking taylor expansion of phi1 in phi1 10.218 * [backup-simplify]: Simplify 0 into 0 10.218 * [backup-simplify]: Simplify 1 into 1 10.218 * [backup-simplify]: Simplify (/ -1 1) into -1 10.218 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.218 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.218 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.218 * [taylor]: Taking taylor expansion of -1 in phi1 10.218 * [backup-simplify]: Simplify -1 into -1 10.218 * [taylor]: Taking taylor expansion of theta in phi1 10.218 * [backup-simplify]: Simplify theta into theta 10.218 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.218 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.218 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.218 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 10.218 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.218 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.219 * [taylor]: Taking taylor expansion of -1 in phi1 10.219 * [backup-simplify]: Simplify -1 into -1 10.219 * [taylor]: Taking taylor expansion of phi1 in phi1 10.219 * [backup-simplify]: Simplify 0 into 0 10.219 * [backup-simplify]: Simplify 1 into 1 10.219 * [backup-simplify]: Simplify (/ -1 1) into -1 10.219 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.219 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.219 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.219 * [taylor]: Taking taylor expansion of -1 in phi1 10.219 * [backup-simplify]: Simplify -1 into -1 10.219 * [taylor]: Taking taylor expansion of delta in phi1 10.219 * [backup-simplify]: Simplify delta into delta 10.219 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.219 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.219 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.219 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 10.219 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.219 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.219 * [taylor]: Taking taylor expansion of -1 in phi1 10.219 * [backup-simplify]: Simplify -1 into -1 10.219 * [taylor]: Taking taylor expansion of phi1 in phi1 10.219 * [backup-simplify]: Simplify 0 into 0 10.219 * [backup-simplify]: Simplify 1 into 1 10.220 * [backup-simplify]: Simplify (/ -1 1) into -1 10.220 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.220 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 10.220 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.220 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 10.220 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.220 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.220 * [taylor]: Taking taylor expansion of -1 in phi1 10.220 * [backup-simplify]: Simplify -1 into -1 10.220 * [taylor]: Taking taylor expansion of delta in phi1 10.220 * [backup-simplify]: Simplify delta into delta 10.220 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.220 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.220 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.220 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 10.220 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.220 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.220 * [taylor]: Taking taylor expansion of -1 in phi1 10.220 * [backup-simplify]: Simplify -1 into -1 10.220 * [taylor]: Taking taylor expansion of phi1 in phi1 10.220 * [backup-simplify]: Simplify 0 into 0 10.220 * [backup-simplify]: Simplify 1 into 1 10.220 * [backup-simplify]: Simplify (/ -1 1) into -1 10.220 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.220 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.220 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.220 * [taylor]: Taking taylor expansion of -1 in phi1 10.220 * [backup-simplify]: Simplify -1 into -1 10.220 * [taylor]: Taking taylor expansion of theta in phi1 10.220 * [backup-simplify]: Simplify theta into theta 10.221 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.221 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.221 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.221 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 10.221 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.221 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.221 * [taylor]: Taking taylor expansion of -1 in phi1 10.221 * [backup-simplify]: Simplify -1 into -1 10.221 * [taylor]: Taking taylor expansion of phi1 in phi1 10.221 * [backup-simplify]: Simplify 0 into 0 10.221 * [backup-simplify]: Simplify 1 into 1 10.221 * [backup-simplify]: Simplify (/ -1 1) into -1 10.221 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.221 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.221 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.221 * [taylor]: Taking taylor expansion of -1 in phi1 10.221 * [backup-simplify]: Simplify -1 into -1 10.221 * [taylor]: Taking taylor expansion of delta in phi1 10.221 * [backup-simplify]: Simplify delta into delta 10.221 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.222 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.222 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.222 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 10.222 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.222 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 10.222 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in phi1 10.222 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.222 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.222 * [taylor]: Taking taylor expansion of -1 in phi1 10.222 * [backup-simplify]: Simplify -1 into -1 10.222 * [taylor]: Taking taylor expansion of phi1 in phi1 10.222 * [backup-simplify]: Simplify 0 into 0 10.222 * [backup-simplify]: Simplify 1 into 1 10.222 * [backup-simplify]: Simplify (/ -1 1) into -1 10.222 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.222 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 10.222 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.223 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 10.223 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.223 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.223 * [taylor]: Taking taylor expansion of -1 in phi1 10.223 * [backup-simplify]: Simplify -1 into -1 10.223 * [taylor]: Taking taylor expansion of delta in phi1 10.223 * [backup-simplify]: Simplify delta into delta 10.223 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.223 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.223 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.223 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 10.223 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.223 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.223 * [taylor]: Taking taylor expansion of -1 in phi1 10.223 * [backup-simplify]: Simplify -1 into -1 10.223 * [taylor]: Taking taylor expansion of phi1 in phi1 10.223 * [backup-simplify]: Simplify 0 into 0 10.223 * [backup-simplify]: Simplify 1 into 1 10.223 * [backup-simplify]: Simplify (/ -1 1) into -1 10.223 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.223 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.223 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.224 * [taylor]: Taking taylor expansion of -1 in phi1 10.224 * [backup-simplify]: Simplify -1 into -1 10.224 * [taylor]: Taking taylor expansion of theta in phi1 10.224 * [backup-simplify]: Simplify theta into theta 10.224 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.224 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.224 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.224 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 10.224 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.224 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.224 * [taylor]: Taking taylor expansion of -1 in phi1 10.224 * [backup-simplify]: Simplify -1 into -1 10.224 * [taylor]: Taking taylor expansion of phi1 in phi1 10.224 * [backup-simplify]: Simplify 0 into 0 10.224 * [backup-simplify]: Simplify 1 into 1 10.224 * [backup-simplify]: Simplify (/ -1 1) into -1 10.224 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.224 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.224 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.224 * [taylor]: Taking taylor expansion of -1 in phi1 10.224 * [backup-simplify]: Simplify -1 into -1 10.224 * [taylor]: Taking taylor expansion of delta in phi1 10.225 * [backup-simplify]: Simplify delta into delta 10.225 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.225 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.225 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.225 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 10.225 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.225 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.225 * [taylor]: Taking taylor expansion of -1 in phi1 10.225 * [backup-simplify]: Simplify -1 into -1 10.225 * [taylor]: Taking taylor expansion of phi1 in phi1 10.225 * [backup-simplify]: Simplify 0 into 0 10.225 * [backup-simplify]: Simplify 1 into 1 10.225 * [backup-simplify]: Simplify (/ -1 1) into -1 10.225 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.225 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 10.225 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.225 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 10.225 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.225 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.226 * [taylor]: Taking taylor expansion of -1 in phi1 10.226 * [backup-simplify]: Simplify -1 into -1 10.226 * [taylor]: Taking taylor expansion of delta in phi1 10.226 * [backup-simplify]: Simplify delta into delta 10.226 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.226 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.226 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.226 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 10.226 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.226 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.226 * [taylor]: Taking taylor expansion of -1 in phi1 10.226 * [backup-simplify]: Simplify -1 into -1 10.226 * [taylor]: Taking taylor expansion of phi1 in phi1 10.226 * [backup-simplify]: Simplify 0 into 0 10.226 * [backup-simplify]: Simplify 1 into 1 10.226 * [backup-simplify]: Simplify (/ -1 1) into -1 10.226 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.226 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.226 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.226 * [taylor]: Taking taylor expansion of -1 in phi1 10.226 * [backup-simplify]: Simplify -1 into -1 10.226 * [taylor]: Taking taylor expansion of theta in phi1 10.227 * [backup-simplify]: Simplify theta into theta 10.227 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.227 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.227 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.227 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 10.227 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.227 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.227 * [taylor]: Taking taylor expansion of -1 in phi1 10.227 * [backup-simplify]: Simplify -1 into -1 10.227 * [taylor]: Taking taylor expansion of phi1 in phi1 10.227 * [backup-simplify]: Simplify 0 into 0 10.227 * [backup-simplify]: Simplify 1 into 1 10.227 * [backup-simplify]: Simplify (/ -1 1) into -1 10.227 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.227 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.227 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.227 * [taylor]: Taking taylor expansion of -1 in phi1 10.227 * [backup-simplify]: Simplify -1 into -1 10.227 * [taylor]: Taking taylor expansion of delta in phi1 10.227 * [backup-simplify]: Simplify delta into delta 10.227 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.228 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.228 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.228 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 10.228 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 10.228 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 10.228 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 10.228 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.228 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.229 * [backup-simplify]: Simplify (- 0) into 0 10.229 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.229 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.229 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.229 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 10.229 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 10.229 * [backup-simplify]: Simplify (- 0) into 0 10.229 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 10.230 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 10.230 * [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))))) 10.230 * [backup-simplify]: Simplify (* (- (sin (/ -1 phi1))) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) 10.230 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 10.230 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 10.230 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 10.230 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.231 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.231 * [backup-simplify]: Simplify (- 0) into 0 10.231 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.231 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.231 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.231 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 10.231 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 10.232 * [backup-simplify]: Simplify (- 0) into 0 10.232 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 10.232 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 10.232 * [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))))) 10.233 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 10.233 * [backup-simplify]: Simplify (+ (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 10.233 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 10.233 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in delta 10.233 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.233 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.234 * [taylor]: Taking taylor expansion of -1 in delta 10.234 * [backup-simplify]: Simplify -1 into -1 10.234 * [taylor]: Taking taylor expansion of phi1 in delta 10.234 * [backup-simplify]: Simplify phi1 into phi1 10.234 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.234 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.234 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.234 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in delta 10.234 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.234 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.234 * [taylor]: Taking taylor expansion of -1 in delta 10.234 * [backup-simplify]: Simplify -1 into -1 10.234 * [taylor]: Taking taylor expansion of delta in delta 10.234 * [backup-simplify]: Simplify 0 into 0 10.234 * [backup-simplify]: Simplify 1 into 1 10.234 * [backup-simplify]: Simplify (/ -1 1) into -1 10.235 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.235 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in delta 10.235 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.235 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.235 * [taylor]: Taking taylor expansion of -1 in delta 10.235 * [backup-simplify]: Simplify -1 into -1 10.235 * [taylor]: Taking taylor expansion of theta in delta 10.235 * [backup-simplify]: Simplify theta into theta 10.235 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.235 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.235 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.235 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.235 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.235 * [taylor]: Taking taylor expansion of -1 in delta 10.235 * [backup-simplify]: Simplify -1 into -1 10.235 * [taylor]: Taking taylor expansion of phi1 in delta 10.235 * [backup-simplify]: Simplify phi1 into phi1 10.235 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.235 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.235 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.235 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 10.235 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.235 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.235 * [taylor]: Taking taylor expansion of -1 in delta 10.235 * [backup-simplify]: Simplify -1 into -1 10.235 * [taylor]: Taking taylor expansion of phi1 in delta 10.235 * [backup-simplify]: Simplify phi1 into phi1 10.235 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.235 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.235 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.235 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 10.236 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.236 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.236 * [taylor]: Taking taylor expansion of -1 in delta 10.236 * [backup-simplify]: Simplify -1 into -1 10.236 * [taylor]: Taking taylor expansion of phi1 in delta 10.236 * [backup-simplify]: Simplify phi1 into phi1 10.236 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.236 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.236 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.236 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 10.236 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.236 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.236 * [taylor]: Taking taylor expansion of -1 in delta 10.236 * [backup-simplify]: Simplify -1 into -1 10.236 * [taylor]: Taking taylor expansion of theta in delta 10.236 * [backup-simplify]: Simplify theta into theta 10.236 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.236 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.236 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.236 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.236 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.236 * [taylor]: Taking taylor expansion of -1 in delta 10.236 * [backup-simplify]: Simplify -1 into -1 10.236 * [taylor]: Taking taylor expansion of delta in delta 10.236 * [backup-simplify]: Simplify 0 into 0 10.236 * [backup-simplify]: Simplify 1 into 1 10.237 * [backup-simplify]: Simplify (/ -1 1) into -1 10.237 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.237 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.237 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.237 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.237 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.237 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.238 * [backup-simplify]: Simplify (- 0) into 0 10.238 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.238 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.238 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.238 * [backup-simplify]: Simplify (- 0) into 0 10.238 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.238 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.238 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.239 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 10.239 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.239 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.239 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.239 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.239 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.239 * [backup-simplify]: Simplify (- 0) into 0 10.239 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.240 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.240 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.240 * [backup-simplify]: Simplify (- 0) into 0 10.240 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.240 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 10.240 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 10.240 * [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))))) 10.241 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 10.241 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 10.241 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in theta 10.241 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 10.241 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.241 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.241 * [taylor]: Taking taylor expansion of -1 in theta 10.241 * [backup-simplify]: Simplify -1 into -1 10.241 * [taylor]: Taking taylor expansion of phi1 in theta 10.241 * [backup-simplify]: Simplify phi1 into phi1 10.242 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.242 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.242 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.242 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 10.242 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.242 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.242 * [taylor]: Taking taylor expansion of -1 in theta 10.242 * [backup-simplify]: Simplify -1 into -1 10.242 * [taylor]: Taking taylor expansion of delta in theta 10.242 * [backup-simplify]: Simplify delta into delta 10.242 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.242 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.242 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.242 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 10.242 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.242 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.242 * [taylor]: Taking taylor expansion of -1 in theta 10.242 * [backup-simplify]: Simplify -1 into -1 10.242 * [taylor]: Taking taylor expansion of theta in theta 10.242 * [backup-simplify]: Simplify 0 into 0 10.242 * [backup-simplify]: Simplify 1 into 1 10.243 * [backup-simplify]: Simplify (/ -1 1) into -1 10.243 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.243 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.243 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.243 * [taylor]: Taking taylor expansion of -1 in theta 10.243 * [backup-simplify]: Simplify -1 into -1 10.243 * [taylor]: Taking taylor expansion of phi1 in theta 10.243 * [backup-simplify]: Simplify phi1 into phi1 10.243 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.243 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.243 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.243 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 10.243 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.243 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.243 * [taylor]: Taking taylor expansion of -1 in theta 10.243 * [backup-simplify]: Simplify -1 into -1 10.243 * [taylor]: Taking taylor expansion of phi1 in theta 10.243 * [backup-simplify]: Simplify phi1 into phi1 10.243 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.243 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.243 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.243 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 10.243 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.243 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.243 * [taylor]: Taking taylor expansion of -1 in theta 10.243 * [backup-simplify]: Simplify -1 into -1 10.244 * [taylor]: Taking taylor expansion of theta in theta 10.244 * [backup-simplify]: Simplify 0 into 0 10.244 * [backup-simplify]: Simplify 1 into 1 10.244 * [backup-simplify]: Simplify (/ -1 1) into -1 10.244 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.244 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 10.244 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.244 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.244 * [taylor]: Taking taylor expansion of -1 in theta 10.244 * [backup-simplify]: Simplify -1 into -1 10.244 * [taylor]: Taking taylor expansion of delta in theta 10.244 * [backup-simplify]: Simplify delta into delta 10.244 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.244 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.244 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.244 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.244 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.244 * [taylor]: Taking taylor expansion of -1 in theta 10.244 * [backup-simplify]: Simplify -1 into -1 10.245 * [taylor]: Taking taylor expansion of phi1 in theta 10.245 * [backup-simplify]: Simplify phi1 into phi1 10.245 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.245 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.245 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.245 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.245 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.245 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.245 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 10.245 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 10.245 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 10.245 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.245 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.246 * [backup-simplify]: Simplify (- 0) into 0 10.246 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.246 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.246 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.246 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 10.246 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.246 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.247 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.247 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 10.247 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 10.247 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 10.247 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.247 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.247 * [backup-simplify]: Simplify (- 0) into 0 10.247 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.247 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 10.248 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 10.248 * [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))))) 10.248 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 10.249 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 10.249 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 10.249 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 10.250 * [backup-simplify]: Simplify (+ 0) into 0 10.250 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.250 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.251 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.252 * [backup-simplify]: Simplify (- 0) into 0 10.252 * [backup-simplify]: Simplify (+ 0 0) into 0 10.252 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 10.253 * [backup-simplify]: Simplify (+ 0) into 0 10.253 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 10.253 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 10.254 * [backup-simplify]: Simplify (+ 0 0) into 0 10.255 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.255 * [backup-simplify]: Simplify (+ 0) into 0 10.256 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 10.256 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.257 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 10.257 * [backup-simplify]: Simplify (- 0) into 0 10.258 * [backup-simplify]: Simplify (+ 0 0) into 0 10.258 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 10.258 * [backup-simplify]: Simplify (+ 0 0) into 0 10.258 * [backup-simplify]: Simplify (- 0) into 0 10.259 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 10.259 * [backup-simplify]: Simplify (+ 0) into 0 10.260 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.260 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.261 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.261 * [backup-simplify]: Simplify (- 0) into 0 10.262 * [backup-simplify]: Simplify (+ 0 0) into 0 10.262 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 10.262 * [backup-simplify]: Simplify (+ 0) into 0 10.263 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 10.263 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.264 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 10.265 * [backup-simplify]: Simplify (+ 0 0) into 0 10.265 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.265 * [backup-simplify]: Simplify (+ 0) into 0 10.266 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 10.266 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.268 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 10.268 * [backup-simplify]: Simplify (- 0) into 0 10.268 * [backup-simplify]: Simplify (+ 0 0) into 0 10.269 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 10.269 * [backup-simplify]: Simplify (+ 0 0) into 0 10.269 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 10.270 * [backup-simplify]: Simplify (+ 0 0) into 0 10.270 * [taylor]: Taking taylor expansion of 0 in delta 10.270 * [backup-simplify]: Simplify 0 into 0 10.270 * [taylor]: Taking taylor expansion of 0 in theta 10.270 * [backup-simplify]: Simplify 0 into 0 10.270 * [backup-simplify]: Simplify 0 into 0 10.270 * [backup-simplify]: Simplify (+ 0) into 0 10.271 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.273 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.273 * [backup-simplify]: Simplify (- 0) into 0 10.274 * [backup-simplify]: Simplify (+ 0 0) into 0 10.274 * [backup-simplify]: Simplify (+ 0) into 0 10.274 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.275 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.276 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.276 * [backup-simplify]: Simplify (- 0) into 0 10.277 * [backup-simplify]: Simplify (+ 0 0) into 0 10.277 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 10.277 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.277 * [backup-simplify]: Simplify (+ 0) into 0 10.278 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.279 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.279 * [backup-simplify]: Simplify (+ 0 0) into 0 10.280 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 10.280 * [backup-simplify]: Simplify (+ 0) into 0 10.281 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.281 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.282 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.283 * [backup-simplify]: Simplify (- 0) into 0 10.283 * [backup-simplify]: Simplify (+ 0 0) into 0 10.283 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 10.283 * [backup-simplify]: Simplify (+ 0) into 0 10.284 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.284 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.285 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.286 * [backup-simplify]: Simplify (- 0) into 0 10.286 * [backup-simplify]: Simplify (+ 0 0) into 0 10.286 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 10.287 * [backup-simplify]: Simplify (+ 0) into 0 10.287 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.287 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.289 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.289 * [backup-simplify]: Simplify (+ 0 0) into 0 10.289 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 10.290 * [backup-simplify]: Simplify (- 0) into 0 10.290 * [backup-simplify]: Simplify (+ 0 0) into 0 10.290 * [taylor]: Taking taylor expansion of 0 in theta 10.290 * [backup-simplify]: Simplify 0 into 0 10.290 * [backup-simplify]: Simplify 0 into 0 10.291 * [backup-simplify]: Simplify (+ 0) into 0 10.291 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.293 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.293 * [backup-simplify]: Simplify (- 0) into 0 10.293 * [backup-simplify]: Simplify (+ 0 0) into 0 10.293 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 10.294 * [backup-simplify]: Simplify (+ 0) into 0 10.294 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 10.294 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.300 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 10.301 * [backup-simplify]: Simplify (+ 0 0) into 0 10.301 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.301 * [backup-simplify]: Simplify (+ 0) into 0 10.302 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.302 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.303 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.303 * [backup-simplify]: Simplify (+ 0 0) into 0 10.304 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 10.304 * [backup-simplify]: Simplify (+ 0) into 0 10.304 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.305 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.306 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.306 * [backup-simplify]: Simplify (- 0) into 0 10.306 * [backup-simplify]: Simplify (+ 0 0) into 0 10.307 * [backup-simplify]: Simplify (+ 0) into 0 10.307 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 10.307 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.309 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 10.309 * [backup-simplify]: Simplify (+ 0 0) into 0 10.309 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 10.309 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 10.310 * [backup-simplify]: Simplify (+ 0) into 0 10.310 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.312 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.312 * [backup-simplify]: Simplify (+ 0 0) into 0 10.312 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 10.313 * [backup-simplify]: Simplify (- 0) into 0 10.313 * [backup-simplify]: Simplify (+ 0 0) into 0 10.313 * [backup-simplify]: Simplify 0 into 0 10.313 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 10.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.315 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.315 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.317 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.317 * [backup-simplify]: Simplify (- 0) into 0 10.317 * [backup-simplify]: Simplify (+ 0 0) into 0 10.318 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 10.319 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.319 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.320 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.320 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.321 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.321 * [backup-simplify]: Simplify (+ 0 0) into 0 10.322 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 10.323 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.324 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.324 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.325 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.325 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.325 * [backup-simplify]: Simplify (- 0) into 0 10.326 * [backup-simplify]: Simplify (+ 0 0) into 0 10.326 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 10.327 * [backup-simplify]: Simplify (+ 0 0) into 0 10.327 * [backup-simplify]: Simplify (- 0) into 0 10.327 * [backup-simplify]: Simplify (- 0) into 0 10.328 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 10.329 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.330 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.330 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.332 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.332 * [backup-simplify]: Simplify (- 0) into 0 10.332 * [backup-simplify]: Simplify (+ 0 0) into 0 10.333 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 10.334 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.335 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.335 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.336 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.336 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.336 * [backup-simplify]: Simplify (+ 0 0) into 0 10.337 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 10.338 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.339 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.339 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.340 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.341 * [backup-simplify]: Simplify (- 0) into 0 10.341 * [backup-simplify]: Simplify (+ 0 0) into 0 10.342 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 10.342 * [backup-simplify]: Simplify (+ 0 0) into 0 10.343 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 10.343 * [backup-simplify]: Simplify (+ 0 0) into 0 10.343 * [taylor]: Taking taylor expansion of 0 in delta 10.343 * [backup-simplify]: Simplify 0 into 0 10.343 * [taylor]: Taking taylor expansion of 0 in theta 10.343 * [backup-simplify]: Simplify 0 into 0 10.343 * [backup-simplify]: Simplify 0 into 0 10.343 * [taylor]: Taking taylor expansion of 0 in theta 10.343 * [backup-simplify]: Simplify 0 into 0 10.343 * [backup-simplify]: Simplify 0 into 0 10.344 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.345 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.345 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.346 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.347 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.347 * [backup-simplify]: Simplify (- 0) into 0 10.348 * [backup-simplify]: Simplify (+ 0 0) into 0 10.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.349 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.350 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.350 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.351 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.351 * [backup-simplify]: Simplify (- 0) into 0 10.352 * [backup-simplify]: Simplify (+ 0 0) into 0 10.352 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 10.353 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 10.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.354 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.356 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.356 * [backup-simplify]: Simplify (+ 0 0) into 0 10.357 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 10.358 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.359 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.359 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.360 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.361 * [backup-simplify]: Simplify (- 0) into 0 10.361 * [backup-simplify]: Simplify (+ 0 0) into 0 10.361 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 10.362 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.363 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.363 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.364 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.365 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.365 * [backup-simplify]: Simplify (- 0) into 0 10.366 * [backup-simplify]: Simplify (+ 0 0) into 0 10.366 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 10.367 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.368 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.368 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.369 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.370 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.370 * [backup-simplify]: Simplify (+ 0 0) into 0 10.371 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 10.371 * [backup-simplify]: Simplify (- 0) into 0 10.371 * [backup-simplify]: Simplify (+ 0 0) into 0 10.371 * [taylor]: Taking taylor expansion of 0 in theta 10.371 * [backup-simplify]: Simplify 0 into 0 10.371 * [backup-simplify]: Simplify 0 into 0 10.372 * [backup-simplify]: Simplify (- (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1)))))))) into (- (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1))))) 10.372 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2) 10.373 * [backup-simplify]: Simplify (log (exp (+ (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) into (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.373 * [approximate]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in (delta phi1 theta) around 0 10.374 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in theta 10.374 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in theta 10.374 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.374 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in theta 10.374 * [taylor]: Taking taylor expansion of 1 in theta 10.374 * [backup-simplify]: Simplify 1 into 1 10.374 * [taylor]: Taking taylor expansion of (cos delta) in theta 10.374 * [taylor]: Taking taylor expansion of delta in theta 10.374 * [backup-simplify]: Simplify delta into delta 10.374 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.374 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.374 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 10.374 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 10.374 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.374 * [taylor]: Taking taylor expansion of phi1 in theta 10.374 * [backup-simplify]: Simplify phi1 into phi1 10.374 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.374 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.374 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 10.374 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.374 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 10.374 * [taylor]: Taking taylor expansion of (sin delta) in theta 10.374 * [taylor]: Taking taylor expansion of delta in theta 10.374 * [backup-simplify]: Simplify delta into delta 10.374 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.374 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.374 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 10.374 * [taylor]: Taking taylor expansion of (cos phi1) in theta 10.375 * [taylor]: Taking taylor expansion of phi1 in theta 10.375 * [backup-simplify]: Simplify phi1 into phi1 10.375 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.375 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.375 * [taylor]: Taking taylor expansion of (cos theta) in theta 10.375 * [taylor]: Taking taylor expansion of theta in theta 10.375 * [backup-simplify]: Simplify 0 into 0 10.375 * [backup-simplify]: Simplify 1 into 1 10.375 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 10.375 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.375 * [taylor]: Taking taylor expansion of phi1 in theta 10.375 * [backup-simplify]: Simplify phi1 into phi1 10.375 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.375 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.375 * [taylor]: Taking taylor expansion of (cos delta) in theta 10.375 * [taylor]: Taking taylor expansion of delta in theta 10.375 * [backup-simplify]: Simplify delta into delta 10.375 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.375 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.375 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 10.375 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 10.375 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 10.375 * [taylor]: Taking taylor expansion of (- (sin phi1)) in theta 10.375 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.375 * [taylor]: Taking taylor expansion of phi1 in theta 10.375 * [backup-simplify]: Simplify phi1 into phi1 10.375 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.375 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.375 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 10.375 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.375 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 10.376 * [taylor]: Taking taylor expansion of (sin delta) in theta 10.376 * [taylor]: Taking taylor expansion of delta in theta 10.376 * [backup-simplify]: Simplify delta into delta 10.376 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.376 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.376 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 10.376 * [taylor]: Taking taylor expansion of (cos phi1) in theta 10.376 * [taylor]: Taking taylor expansion of phi1 in theta 10.376 * [backup-simplify]: Simplify phi1 into phi1 10.376 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.376 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.376 * [taylor]: Taking taylor expansion of (cos theta) in theta 10.376 * [taylor]: Taking taylor expansion of theta in theta 10.376 * [backup-simplify]: Simplify 0 into 0 10.376 * [backup-simplify]: Simplify 1 into 1 10.376 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 10.376 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.376 * [taylor]: Taking taylor expansion of phi1 in theta 10.376 * [backup-simplify]: Simplify phi1 into phi1 10.376 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.376 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.376 * [taylor]: Taking taylor expansion of (cos delta) in theta 10.376 * [taylor]: Taking taylor expansion of delta in theta 10.376 * [backup-simplify]: Simplify delta into delta 10.376 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.376 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.376 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 10.376 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.376 * [taylor]: Taking taylor expansion of phi1 in theta 10.376 * [backup-simplify]: Simplify phi1 into phi1 10.376 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.376 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.377 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 10.377 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.377 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 10.377 * [taylor]: Taking taylor expansion of (sin delta) in theta 10.377 * [taylor]: Taking taylor expansion of delta in theta 10.377 * [backup-simplify]: Simplify delta into delta 10.377 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.377 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.377 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 10.377 * [taylor]: Taking taylor expansion of (cos phi1) in theta 10.377 * [taylor]: Taking taylor expansion of phi1 in theta 10.377 * [backup-simplify]: Simplify phi1 into phi1 10.377 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.377 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.377 * [taylor]: Taking taylor expansion of (cos theta) in theta 10.377 * [taylor]: Taking taylor expansion of theta in theta 10.377 * [backup-simplify]: Simplify 0 into 0 10.377 * [backup-simplify]: Simplify 1 into 1 10.377 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 10.377 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.377 * [taylor]: Taking taylor expansion of phi1 in theta 10.377 * [backup-simplify]: Simplify phi1 into phi1 10.377 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.377 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.377 * [taylor]: Taking taylor expansion of (cos delta) in theta 10.377 * [taylor]: Taking taylor expansion of delta in theta 10.377 * [backup-simplify]: Simplify delta into delta 10.377 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.377 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.377 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in phi1 10.377 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in phi1 10.378 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.378 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in phi1 10.378 * [taylor]: Taking taylor expansion of 1 in phi1 10.378 * [backup-simplify]: Simplify 1 into 1 10.378 * [taylor]: Taking taylor expansion of (cos delta) in phi1 10.378 * [taylor]: Taking taylor expansion of delta in phi1 10.378 * [backup-simplify]: Simplify delta into delta 10.378 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.378 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.378 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 10.378 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 10.378 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.378 * [taylor]: Taking taylor expansion of phi1 in phi1 10.378 * [backup-simplify]: Simplify 0 into 0 10.378 * [backup-simplify]: Simplify 1 into 1 10.378 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 10.378 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.378 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 10.378 * [taylor]: Taking taylor expansion of (sin delta) in phi1 10.378 * [taylor]: Taking taylor expansion of delta in phi1 10.378 * [backup-simplify]: Simplify delta into delta 10.378 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.378 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.378 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 10.378 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 10.378 * [taylor]: Taking taylor expansion of phi1 in phi1 10.378 * [backup-simplify]: Simplify 0 into 0 10.378 * [backup-simplify]: Simplify 1 into 1 10.378 * [taylor]: Taking taylor expansion of (cos theta) in phi1 10.378 * [taylor]: Taking taylor expansion of theta in phi1 10.378 * [backup-simplify]: Simplify theta into theta 10.378 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.378 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.379 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 10.379 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.379 * [taylor]: Taking taylor expansion of phi1 in phi1 10.379 * [backup-simplify]: Simplify 0 into 0 10.379 * [backup-simplify]: Simplify 1 into 1 10.379 * [taylor]: Taking taylor expansion of (cos delta) in phi1 10.379 * [taylor]: Taking taylor expansion of delta in phi1 10.379 * [backup-simplify]: Simplify delta into delta 10.379 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.379 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.379 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 10.379 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 10.379 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 10.379 * [taylor]: Taking taylor expansion of (- (sin phi1)) in phi1 10.379 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.379 * [taylor]: Taking taylor expansion of phi1 in phi1 10.379 * [backup-simplify]: Simplify 0 into 0 10.379 * [backup-simplify]: Simplify 1 into 1 10.379 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 10.379 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.379 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 10.379 * [taylor]: Taking taylor expansion of (sin delta) in phi1 10.379 * [taylor]: Taking taylor expansion of delta in phi1 10.379 * [backup-simplify]: Simplify delta into delta 10.379 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.379 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.379 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 10.379 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 10.379 * [taylor]: Taking taylor expansion of phi1 in phi1 10.379 * [backup-simplify]: Simplify 0 into 0 10.379 * [backup-simplify]: Simplify 1 into 1 10.379 * [taylor]: Taking taylor expansion of (cos theta) in phi1 10.379 * [taylor]: Taking taylor expansion of theta in phi1 10.379 * [backup-simplify]: Simplify theta into theta 10.380 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.380 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.380 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 10.380 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.380 * [taylor]: Taking taylor expansion of phi1 in phi1 10.380 * [backup-simplify]: Simplify 0 into 0 10.380 * [backup-simplify]: Simplify 1 into 1 10.380 * [taylor]: Taking taylor expansion of (cos delta) in phi1 10.380 * [taylor]: Taking taylor expansion of delta in phi1 10.380 * [backup-simplify]: Simplify delta into delta 10.380 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.380 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.380 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 10.380 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.380 * [taylor]: Taking taylor expansion of phi1 in phi1 10.380 * [backup-simplify]: Simplify 0 into 0 10.380 * [backup-simplify]: Simplify 1 into 1 10.380 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 10.380 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.380 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 10.380 * [taylor]: Taking taylor expansion of (sin delta) in phi1 10.380 * [taylor]: Taking taylor expansion of delta in phi1 10.380 * [backup-simplify]: Simplify delta into delta 10.380 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.380 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.380 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 10.380 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 10.380 * [taylor]: Taking taylor expansion of phi1 in phi1 10.380 * [backup-simplify]: Simplify 0 into 0 10.380 * [backup-simplify]: Simplify 1 into 1 10.380 * [taylor]: Taking taylor expansion of (cos theta) in phi1 10.380 * [taylor]: Taking taylor expansion of theta in phi1 10.380 * [backup-simplify]: Simplify theta into theta 10.381 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.381 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.381 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 10.381 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.381 * [taylor]: Taking taylor expansion of phi1 in phi1 10.381 * [backup-simplify]: Simplify 0 into 0 10.381 * [backup-simplify]: Simplify 1 into 1 10.381 * [taylor]: Taking taylor expansion of (cos delta) in phi1 10.381 * [taylor]: Taking taylor expansion of delta in phi1 10.381 * [backup-simplify]: Simplify delta into delta 10.381 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.381 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.381 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 10.381 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 10.381 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.381 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 10.381 * [taylor]: Taking taylor expansion of 1 in delta 10.381 * [backup-simplify]: Simplify 1 into 1 10.381 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.381 * [taylor]: Taking taylor expansion of delta in delta 10.381 * [backup-simplify]: Simplify 0 into 0 10.381 * [backup-simplify]: Simplify 1 into 1 10.381 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 10.381 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.381 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.381 * [taylor]: Taking taylor expansion of phi1 in delta 10.381 * [backup-simplify]: Simplify phi1 into phi1 10.381 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.381 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.381 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.381 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.381 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.382 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.382 * [taylor]: Taking taylor expansion of delta in delta 10.382 * [backup-simplify]: Simplify 0 into 0 10.382 * [backup-simplify]: Simplify 1 into 1 10.382 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.382 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.382 * [taylor]: Taking taylor expansion of phi1 in delta 10.382 * [backup-simplify]: Simplify phi1 into phi1 10.382 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.382 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.382 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.382 * [taylor]: Taking taylor expansion of theta in delta 10.382 * [backup-simplify]: Simplify theta into theta 10.382 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.382 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.382 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.382 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.382 * [taylor]: Taking taylor expansion of phi1 in delta 10.382 * [backup-simplify]: Simplify phi1 into phi1 10.382 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.382 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.382 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.382 * [taylor]: Taking taylor expansion of delta in delta 10.382 * [backup-simplify]: Simplify 0 into 0 10.382 * [backup-simplify]: Simplify 1 into 1 10.382 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 10.382 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 10.382 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.382 * [taylor]: Taking taylor expansion of (- (sin phi1)) in delta 10.382 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.382 * [taylor]: Taking taylor expansion of phi1 in delta 10.382 * [backup-simplify]: Simplify phi1 into phi1 10.383 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.383 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.383 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.383 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.383 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.383 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.383 * [taylor]: Taking taylor expansion of delta in delta 10.383 * [backup-simplify]: Simplify 0 into 0 10.383 * [backup-simplify]: Simplify 1 into 1 10.383 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.383 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.383 * [taylor]: Taking taylor expansion of phi1 in delta 10.383 * [backup-simplify]: Simplify phi1 into phi1 10.383 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.383 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.383 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.383 * [taylor]: Taking taylor expansion of theta in delta 10.383 * [backup-simplify]: Simplify theta into theta 10.383 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.383 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.383 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.383 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.383 * [taylor]: Taking taylor expansion of phi1 in delta 10.383 * [backup-simplify]: Simplify phi1 into phi1 10.383 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.383 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.383 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.383 * [taylor]: Taking taylor expansion of delta in delta 10.383 * [backup-simplify]: Simplify 0 into 0 10.383 * [backup-simplify]: Simplify 1 into 1 10.383 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.383 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.384 * [taylor]: Taking taylor expansion of phi1 in delta 10.384 * [backup-simplify]: Simplify phi1 into phi1 10.384 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.384 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.384 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.384 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.384 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.384 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.384 * [taylor]: Taking taylor expansion of delta in delta 10.384 * [backup-simplify]: Simplify 0 into 0 10.384 * [backup-simplify]: Simplify 1 into 1 10.384 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.384 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.384 * [taylor]: Taking taylor expansion of phi1 in delta 10.384 * [backup-simplify]: Simplify phi1 into phi1 10.384 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.384 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.384 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.384 * [taylor]: Taking taylor expansion of theta in delta 10.384 * [backup-simplify]: Simplify theta into theta 10.384 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.384 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.384 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.384 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.384 * [taylor]: Taking taylor expansion of phi1 in delta 10.384 * [backup-simplify]: Simplify phi1 into phi1 10.384 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.384 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.384 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.384 * [taylor]: Taking taylor expansion of delta in delta 10.384 * [backup-simplify]: Simplify 0 into 0 10.385 * [backup-simplify]: Simplify 1 into 1 10.385 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 10.385 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 10.385 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.385 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 10.385 * [taylor]: Taking taylor expansion of 1 in delta 10.385 * [backup-simplify]: Simplify 1 into 1 10.385 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.385 * [taylor]: Taking taylor expansion of delta in delta 10.385 * [backup-simplify]: Simplify 0 into 0 10.385 * [backup-simplify]: Simplify 1 into 1 10.385 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 10.385 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.385 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.385 * [taylor]: Taking taylor expansion of phi1 in delta 10.385 * [backup-simplify]: Simplify phi1 into phi1 10.385 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.385 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.385 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.385 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.385 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.385 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.385 * [taylor]: Taking taylor expansion of delta in delta 10.385 * [backup-simplify]: Simplify 0 into 0 10.385 * [backup-simplify]: Simplify 1 into 1 10.385 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.385 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.385 * [taylor]: Taking taylor expansion of phi1 in delta 10.385 * [backup-simplify]: Simplify phi1 into phi1 10.385 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.385 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.385 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.386 * [taylor]: Taking taylor expansion of theta in delta 10.386 * [backup-simplify]: Simplify theta into theta 10.386 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.386 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.386 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.386 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.386 * [taylor]: Taking taylor expansion of phi1 in delta 10.386 * [backup-simplify]: Simplify phi1 into phi1 10.386 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.386 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.386 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.386 * [taylor]: Taking taylor expansion of delta in delta 10.386 * [backup-simplify]: Simplify 0 into 0 10.386 * [backup-simplify]: Simplify 1 into 1 10.386 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 10.386 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 10.386 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.386 * [taylor]: Taking taylor expansion of (- (sin phi1)) in delta 10.386 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.386 * [taylor]: Taking taylor expansion of phi1 in delta 10.386 * [backup-simplify]: Simplify phi1 into phi1 10.386 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.386 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.386 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.386 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.386 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.386 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.387 * [taylor]: Taking taylor expansion of delta in delta 10.387 * [backup-simplify]: Simplify 0 into 0 10.387 * [backup-simplify]: Simplify 1 into 1 10.387 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.387 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.387 * [taylor]: Taking taylor expansion of phi1 in delta 10.387 * [backup-simplify]: Simplify phi1 into phi1 10.387 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.387 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.387 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.387 * [taylor]: Taking taylor expansion of theta in delta 10.387 * [backup-simplify]: Simplify theta into theta 10.387 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.387 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.387 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.387 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.387 * [taylor]: Taking taylor expansion of phi1 in delta 10.387 * [backup-simplify]: Simplify phi1 into phi1 10.387 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.387 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.387 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.387 * [taylor]: Taking taylor expansion of delta in delta 10.387 * [backup-simplify]: Simplify 0 into 0 10.387 * [backup-simplify]: Simplify 1 into 1 10.387 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.387 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.387 * [taylor]: Taking taylor expansion of phi1 in delta 10.387 * [backup-simplify]: Simplify phi1 into phi1 10.387 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.387 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.387 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.388 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.388 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.388 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.388 * [taylor]: Taking taylor expansion of delta in delta 10.388 * [backup-simplify]: Simplify 0 into 0 10.388 * [backup-simplify]: Simplify 1 into 1 10.388 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.388 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.388 * [taylor]: Taking taylor expansion of phi1 in delta 10.388 * [backup-simplify]: Simplify phi1 into phi1 10.388 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.388 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.388 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.388 * [taylor]: Taking taylor expansion of theta in delta 10.388 * [backup-simplify]: Simplify theta into theta 10.388 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.388 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.388 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.388 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.388 * [taylor]: Taking taylor expansion of phi1 in delta 10.388 * [backup-simplify]: Simplify phi1 into phi1 10.388 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.388 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.388 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.388 * [taylor]: Taking taylor expansion of delta in delta 10.388 * [backup-simplify]: Simplify 0 into 0 10.388 * [backup-simplify]: Simplify 1 into 1 10.389 * [backup-simplify]: Simplify (* 1 1) into 1 10.389 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.389 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.389 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.389 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 10.390 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 10.390 * [backup-simplify]: Simplify (- 0) into 0 10.390 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 10.390 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 10.390 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 10.391 * [backup-simplify]: Simplify (- 0) into 0 10.391 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 10.391 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 10.391 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 10.391 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.391 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.391 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.391 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.391 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 10.391 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 10.391 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 10.392 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 10.392 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.392 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.392 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.392 * [backup-simplify]: Simplify (- (sin phi1)) into (- (sin phi1)) 10.392 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 10.392 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 10.393 * [backup-simplify]: Simplify (- 0) into 0 10.393 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 10.393 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 10.393 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 10.393 * [backup-simplify]: Simplify (- 0) into 0 10.393 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 10.393 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 10.393 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 10.393 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.394 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.394 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.394 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.394 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 10.394 * [backup-simplify]: Simplify (* (- (sin phi1)) (sin phi1)) into (* -1 (pow (sin phi1) 2)) 10.394 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.394 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.394 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.394 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 10.394 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 10.395 * [backup-simplify]: Simplify (- 0) into 0 10.395 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 10.395 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 10.395 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 10.395 * [backup-simplify]: Simplify (- 0) into 0 10.395 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 10.396 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 10.396 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 10.396 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.396 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.396 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.396 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.396 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 10.396 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 10.396 * [backup-simplify]: Simplify (+ (* -1 (pow (sin phi1) 2)) (pow (sin phi1) 2)) into 0 10.396 * [backup-simplify]: Simplify (+ (- 1 (pow (sin phi1) 2)) 0) into (- 1 (pow (sin phi1) 2)) 10.396 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 10.397 * [taylor]: Taking taylor expansion of 1 in phi1 10.397 * [backup-simplify]: Simplify 1 into 1 10.397 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 10.397 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.397 * [taylor]: Taking taylor expansion of phi1 in phi1 10.397 * [backup-simplify]: Simplify 0 into 0 10.397 * [backup-simplify]: Simplify 1 into 1 10.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.398 * [backup-simplify]: Simplify (+ 1 0) into 1 10.398 * [taylor]: Taking taylor expansion of 1 in theta 10.398 * [backup-simplify]: Simplify 1 into 1 10.398 * [backup-simplify]: Simplify 1 into 1 10.399 * [backup-simplify]: Simplify (+ 0) into 0 10.399 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.400 * [backup-simplify]: Simplify (+ 0) into 0 10.400 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 10.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.402 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 10.402 * [backup-simplify]: Simplify (- 0) into 0 10.403 * [backup-simplify]: Simplify (+ 0 0) into 0 10.403 * [backup-simplify]: Simplify (+ 0) into 0 10.404 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 10.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.406 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 10.406 * [backup-simplify]: Simplify (- 0) into 0 10.407 * [backup-simplify]: Simplify (+ 0 0) into 0 10.407 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 10.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.408 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 10.408 * [backup-simplify]: Simplify (+ 0) into 0 10.409 * [backup-simplify]: Simplify (+ 0) into 0 10.409 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.410 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.411 * [backup-simplify]: Simplify (+ 0 0) into 0 10.411 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.411 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 10.412 * [backup-simplify]: Simplify (+ 0) into 0 10.412 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.414 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.414 * [backup-simplify]: Simplify (+ 0 0) into 0 10.414 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 10.414 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 10.415 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 10.415 * [backup-simplify]: Simplify (- (sin phi1)) into (- (sin phi1)) 10.415 * [backup-simplify]: Simplify (+ 0) into 0 10.416 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 10.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.417 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 10.417 * [backup-simplify]: Simplify (- 0) into 0 10.418 * [backup-simplify]: Simplify (+ 0 0) into 0 10.418 * [backup-simplify]: Simplify (+ 0) into 0 10.419 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 10.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.420 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 10.420 * [backup-simplify]: Simplify (- 0) into 0 10.421 * [backup-simplify]: Simplify (+ 0 0) into 0 10.421 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 10.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.422 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 10.422 * [backup-simplify]: Simplify (+ 0) into 0 10.423 * [backup-simplify]: Simplify (+ 0) into 0 10.423 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.425 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.425 * [backup-simplify]: Simplify (+ 0 0) into 0 10.426 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.426 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 10.426 * [backup-simplify]: Simplify (+ 0) into 0 10.427 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.428 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.429 * [backup-simplify]: Simplify (+ 0 0) into 0 10.429 * [backup-simplify]: Simplify (- 0) into 0 10.429 * [backup-simplify]: Simplify (+ (* (- (sin phi1)) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 10.430 * [backup-simplify]: Simplify (+ 0) into 0 10.430 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 10.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.431 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 10.432 * [backup-simplify]: Simplify (- 0) into 0 10.432 * [backup-simplify]: Simplify (+ 0 0) into 0 10.433 * [backup-simplify]: Simplify (+ 0) into 0 10.433 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 10.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.434 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 10.435 * [backup-simplify]: Simplify (- 0) into 0 10.435 * [backup-simplify]: Simplify (+ 0 0) into 0 10.435 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 10.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.437 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 10.437 * [backup-simplify]: Simplify (+ 0) into 0 10.438 * [backup-simplify]: Simplify (+ 0) into 0 10.438 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.440 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.441 * [backup-simplify]: Simplify (+ 0 0) into 0 10.441 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.442 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 10.442 * [backup-simplify]: Simplify (+ 0) into 0 10.443 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.444 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.444 * [backup-simplify]: Simplify (+ 0 0) into 0 10.445 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 10.445 * [backup-simplify]: Simplify (+ (- (* (sin phi1) (* (cos phi1) (cos theta)))) (* (sin phi1) (* (cos phi1) (cos theta)))) into 0 10.445 * [backup-simplify]: Simplify (+ (- (* (sin phi1) (* (cos phi1) (cos theta)))) 0) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 10.445 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 10.445 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 10.445 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.445 * [taylor]: Taking taylor expansion of phi1 in phi1 10.445 * [backup-simplify]: Simplify 0 into 0 10.445 * [backup-simplify]: Simplify 1 into 1 10.445 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 10.445 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 10.445 * [taylor]: Taking taylor expansion of phi1 in phi1 10.446 * [backup-simplify]: Simplify 0 into 0 10.446 * [backup-simplify]: Simplify 1 into 1 10.446 * [taylor]: Taking taylor expansion of (cos theta) in phi1 10.446 * [taylor]: Taking taylor expansion of theta in phi1 10.446 * [backup-simplify]: Simplify theta into theta 10.446 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.446 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.446 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 10.446 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 10.446 * [backup-simplify]: Simplify (- 0) into 0 10.446 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 10.447 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 10.447 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 10.447 * [backup-simplify]: Simplify (- 0) into 0 10.447 * [taylor]: Taking taylor expansion of 0 in theta 10.447 * [backup-simplify]: Simplify 0 into 0 10.447 * [backup-simplify]: Simplify 0 into 0 10.448 * [backup-simplify]: Simplify (+ 0 0) into 0 10.448 * [taylor]: Taking taylor expansion of 0 in theta 10.448 * [backup-simplify]: Simplify 0 into 0 10.448 * [backup-simplify]: Simplify 0 into 0 10.448 * [backup-simplify]: Simplify 0 into 0 10.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.450 * [backup-simplify]: Simplify (+ (* 1 -1/2) (+ (* 0 0) (* 0 1))) into -1/2 10.451 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.452 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 10.452 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.453 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 10.453 * [backup-simplify]: Simplify (- 0) into 0 10.454 * [backup-simplify]: Simplify (+ 0 0) into 0 10.459 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.461 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.461 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.462 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.462 * [backup-simplify]: Simplify (- 0) into 0 10.463 * [backup-simplify]: Simplify (+ 0 0) into 0 10.463 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 10.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.465 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 10.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.467 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.468 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.469 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.469 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.470 * [backup-simplify]: Simplify (+ 0 0) into 0 10.471 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 10.471 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 10.472 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.472 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.473 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.474 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.474 * [backup-simplify]: Simplify (+ 0 0) into 0 10.474 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 10.475 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 10.475 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 10.475 * [backup-simplify]: Simplify (- (sin phi1)) into (- (sin phi1)) 10.476 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.477 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 10.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.478 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 10.478 * [backup-simplify]: Simplify (- 0) into 0 10.479 * [backup-simplify]: Simplify (+ 0 0) into 0 10.479 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.480 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.481 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.482 * [backup-simplify]: Simplify (- 0) into 0 10.482 * [backup-simplify]: Simplify (+ 0 0) into 0 10.483 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 10.483 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.484 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 10.485 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.486 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.487 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.488 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.488 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.489 * [backup-simplify]: Simplify (+ 0 0) into 0 10.489 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 10.490 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 10.490 * [backup-simplify]: Simplify (- 0) into 0 10.491 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.492 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.492 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.493 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.494 * [backup-simplify]: Simplify (+ 0 0) into 0 10.494 * [backup-simplify]: Simplify (- 0) into 0 10.494 * [backup-simplify]: Simplify (+ (* (- (sin phi1)) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (* 1/2 (pow (sin phi1) 2)) 10.495 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.496 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 10.497 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.497 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 10.498 * [backup-simplify]: Simplify (- 0) into 0 10.498 * [backup-simplify]: Simplify (+ 0 0) into 0 10.499 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.500 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.501 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.501 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.501 * [backup-simplify]: Simplify (- 0) into 0 10.502 * [backup-simplify]: Simplify (+ 0 0) into 0 10.502 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 10.503 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.504 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 10.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.506 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.506 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.506 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.507 * [backup-simplify]: Simplify (+ 0 0) into 0 10.507 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 10.507 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 10.508 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.508 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.509 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.509 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.509 * [backup-simplify]: Simplify (+ 0 0) into 0 10.509 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 10.510 * [backup-simplify]: Simplify (+ (* 1/2 (pow (sin phi1) 2)) (- (* 1/2 (pow (sin phi1) 2)))) into 0 10.510 * [backup-simplify]: Simplify (+ (- (* 1/2 (pow (sin phi1) 2)) 1/2) 0) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 10.510 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 10.510 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 10.510 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.510 * [backup-simplify]: Simplify 1/2 into 1/2 10.510 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 10.510 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.510 * [taylor]: Taking taylor expansion of phi1 in phi1 10.510 * [backup-simplify]: Simplify 0 into 0 10.510 * [backup-simplify]: Simplify 1 into 1 10.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.510 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.510 * [backup-simplify]: Simplify 1/2 into 1/2 10.511 * [backup-simplify]: Simplify (- 1/2) into -1/2 10.511 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 10.511 * [taylor]: Taking taylor expansion of -1/2 in theta 10.511 * [backup-simplify]: Simplify -1/2 into -1/2 10.511 * [backup-simplify]: Simplify -1/2 into -1/2 10.511 * [backup-simplify]: Simplify (+ 0) into 0 10.512 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 10.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.512 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 10.513 * [backup-simplify]: Simplify (- 0) into 0 10.513 * [backup-simplify]: Simplify (+ 0 0) into 0 10.513 * [backup-simplify]: Simplify (+ 0) into 0 10.513 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 10.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.514 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 10.514 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 10.514 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 10.514 * [taylor]: Taking taylor expansion of (cos theta) in theta 10.514 * [taylor]: Taking taylor expansion of theta in theta 10.514 * [backup-simplify]: Simplify 0 into 0 10.514 * [backup-simplify]: Simplify 1 into 1 10.514 * [backup-simplify]: Simplify (- 1) into -1 10.514 * [backup-simplify]: Simplify -1 into -1 10.515 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 10.515 * [backup-simplify]: Simplify (log (exp (+ (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))) (fma (- (sin (/ 1 phi1))) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))) (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))))) into (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) 10.516 * [approximate]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in (delta phi1 theta) around 0 10.516 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in theta 10.516 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in theta 10.516 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.516 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 10.516 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in theta 10.516 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.516 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.516 * [taylor]: Taking taylor expansion of phi1 in theta 10.516 * [backup-simplify]: Simplify phi1 into phi1 10.516 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.516 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.516 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.516 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 10.516 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.516 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 10.516 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.516 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.516 * [taylor]: Taking taylor expansion of delta in theta 10.516 * [backup-simplify]: Simplify delta into delta 10.516 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.516 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.516 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.516 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 10.516 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.516 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.516 * [taylor]: Taking taylor expansion of theta in theta 10.516 * [backup-simplify]: Simplify 0 into 0 10.516 * [backup-simplify]: Simplify 1 into 1 10.517 * [backup-simplify]: Simplify (/ 1 1) into 1 10.517 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.517 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.517 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.517 * [taylor]: Taking taylor expansion of phi1 in theta 10.517 * [backup-simplify]: Simplify phi1 into phi1 10.517 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.517 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.517 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.517 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 10.517 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.517 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.517 * [taylor]: Taking taylor expansion of delta in theta 10.517 * [backup-simplify]: Simplify delta into delta 10.517 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.517 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.517 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.517 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.517 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.517 * [taylor]: Taking taylor expansion of phi1 in theta 10.517 * [backup-simplify]: Simplify phi1 into phi1 10.517 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.517 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.517 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.517 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 10.517 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 10.517 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.517 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 10.517 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.517 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.517 * [taylor]: Taking taylor expansion of delta in theta 10.517 * [backup-simplify]: Simplify delta into delta 10.517 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.517 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.517 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.517 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 10.518 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.518 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.518 * [taylor]: Taking taylor expansion of theta in theta 10.518 * [backup-simplify]: Simplify 0 into 0 10.518 * [backup-simplify]: Simplify 1 into 1 10.518 * [backup-simplify]: Simplify (/ 1 1) into 1 10.518 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.518 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.518 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.518 * [taylor]: Taking taylor expansion of phi1 in theta 10.518 * [backup-simplify]: Simplify phi1 into phi1 10.518 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.518 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.518 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.518 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 10.518 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.518 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.518 * [taylor]: Taking taylor expansion of delta in theta 10.518 * [backup-simplify]: Simplify delta into delta 10.518 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.518 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.518 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.518 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.518 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.518 * [taylor]: Taking taylor expansion of phi1 in theta 10.518 * [backup-simplify]: Simplify phi1 into phi1 10.518 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.518 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.518 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.518 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.518 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.518 * [taylor]: Taking taylor expansion of phi1 in theta 10.518 * [backup-simplify]: Simplify phi1 into phi1 10.519 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.519 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.519 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.519 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in theta 10.519 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.519 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in theta 10.519 * [taylor]: Taking taylor expansion of 1 in theta 10.519 * [backup-simplify]: Simplify 1 into 1 10.519 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.519 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.519 * [taylor]: Taking taylor expansion of delta in theta 10.519 * [backup-simplify]: Simplify delta into delta 10.519 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.519 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.519 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.519 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in theta 10.519 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 10.519 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.519 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.519 * [taylor]: Taking taylor expansion of phi1 in theta 10.519 * [backup-simplify]: Simplify phi1 into phi1 10.519 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.519 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.519 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.519 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 10.519 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.519 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 10.519 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.519 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.519 * [taylor]: Taking taylor expansion of delta in theta 10.519 * [backup-simplify]: Simplify delta into delta 10.519 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.519 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.519 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.519 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 10.519 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.519 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.519 * [taylor]: Taking taylor expansion of theta in theta 10.519 * [backup-simplify]: Simplify 0 into 0 10.519 * [backup-simplify]: Simplify 1 into 1 10.520 * [backup-simplify]: Simplify (/ 1 1) into 1 10.520 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.520 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.520 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.520 * [taylor]: Taking taylor expansion of phi1 in theta 10.520 * [backup-simplify]: Simplify phi1 into phi1 10.520 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.520 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.520 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.520 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 10.520 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.520 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.520 * [taylor]: Taking taylor expansion of delta in theta 10.520 * [backup-simplify]: Simplify delta into delta 10.520 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.520 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.520 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.520 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.520 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.520 * [taylor]: Taking taylor expansion of phi1 in theta 10.520 * [backup-simplify]: Simplify phi1 into phi1 10.520 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.520 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.521 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.521 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in phi1 10.521 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 10.521 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.521 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 10.521 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in phi1 10.521 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.521 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.521 * [taylor]: Taking taylor expansion of phi1 in phi1 10.521 * [backup-simplify]: Simplify 0 into 0 10.521 * [backup-simplify]: Simplify 1 into 1 10.521 * [backup-simplify]: Simplify (/ 1 1) into 1 10.521 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.521 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.521 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.521 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.521 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.521 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.521 * [taylor]: Taking taylor expansion of delta in phi1 10.521 * [backup-simplify]: Simplify delta into delta 10.521 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.522 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.522 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.522 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.522 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.522 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.522 * [taylor]: Taking taylor expansion of theta in phi1 10.522 * [backup-simplify]: Simplify theta into theta 10.522 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.522 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.522 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.522 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.522 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.522 * [taylor]: Taking taylor expansion of phi1 in phi1 10.522 * [backup-simplify]: Simplify 0 into 0 10.522 * [backup-simplify]: Simplify 1 into 1 10.522 * [backup-simplify]: Simplify (/ 1 1) into 1 10.522 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.522 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.522 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.522 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.522 * [taylor]: Taking taylor expansion of delta in phi1 10.522 * [backup-simplify]: Simplify delta into delta 10.522 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.522 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.522 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.522 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.522 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.522 * [taylor]: Taking taylor expansion of phi1 in phi1 10.522 * [backup-simplify]: Simplify 0 into 0 10.522 * [backup-simplify]: Simplify 1 into 1 10.523 * [backup-simplify]: Simplify (/ 1 1) into 1 10.523 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.523 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 10.523 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.523 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.523 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.523 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.523 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.523 * [taylor]: Taking taylor expansion of delta in phi1 10.523 * [backup-simplify]: Simplify delta into delta 10.523 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.523 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.523 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.523 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.523 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.523 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.523 * [taylor]: Taking taylor expansion of theta in phi1 10.523 * [backup-simplify]: Simplify theta into theta 10.523 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.523 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.523 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.523 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.523 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.523 * [taylor]: Taking taylor expansion of phi1 in phi1 10.523 * [backup-simplify]: Simplify 0 into 0 10.523 * [backup-simplify]: Simplify 1 into 1 10.524 * [backup-simplify]: Simplify (/ 1 1) into 1 10.524 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.524 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.524 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.524 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.524 * [taylor]: Taking taylor expansion of delta in phi1 10.524 * [backup-simplify]: Simplify delta into delta 10.524 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.524 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.524 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.524 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.524 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.524 * [taylor]: Taking taylor expansion of phi1 in phi1 10.524 * [backup-simplify]: Simplify 0 into 0 10.524 * [backup-simplify]: Simplify 1 into 1 10.524 * [backup-simplify]: Simplify (/ 1 1) into 1 10.524 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.524 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.524 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.524 * [taylor]: Taking taylor expansion of phi1 in phi1 10.524 * [backup-simplify]: Simplify 0 into 0 10.524 * [backup-simplify]: Simplify 1 into 1 10.524 * [backup-simplify]: Simplify (/ 1 1) into 1 10.525 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.525 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in phi1 10.525 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.525 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in phi1 10.525 * [taylor]: Taking taylor expansion of 1 in phi1 10.525 * [backup-simplify]: Simplify 1 into 1 10.525 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.525 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.525 * [taylor]: Taking taylor expansion of delta in phi1 10.525 * [backup-simplify]: Simplify delta into delta 10.525 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.525 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.525 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.525 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in phi1 10.525 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 10.525 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.525 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.525 * [taylor]: Taking taylor expansion of phi1 in phi1 10.525 * [backup-simplify]: Simplify 0 into 0 10.525 * [backup-simplify]: Simplify 1 into 1 10.525 * [backup-simplify]: Simplify (/ 1 1) into 1 10.525 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.525 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.525 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.525 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.525 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.525 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.525 * [taylor]: Taking taylor expansion of delta in phi1 10.525 * [backup-simplify]: Simplify delta into delta 10.525 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.525 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.526 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.526 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.526 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.526 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.526 * [taylor]: Taking taylor expansion of theta in phi1 10.526 * [backup-simplify]: Simplify theta into theta 10.526 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.526 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.526 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.526 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.526 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.526 * [taylor]: Taking taylor expansion of phi1 in phi1 10.526 * [backup-simplify]: Simplify 0 into 0 10.526 * [backup-simplify]: Simplify 1 into 1 10.526 * [backup-simplify]: Simplify (/ 1 1) into 1 10.526 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.526 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.526 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.526 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.526 * [taylor]: Taking taylor expansion of delta in phi1 10.526 * [backup-simplify]: Simplify delta into delta 10.526 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.526 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.526 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.526 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.526 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.526 * [taylor]: Taking taylor expansion of phi1 in phi1 10.526 * [backup-simplify]: Simplify 0 into 0 10.526 * [backup-simplify]: Simplify 1 into 1 10.527 * [backup-simplify]: Simplify (/ 1 1) into 1 10.527 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.527 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in delta 10.527 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 10.527 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.527 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 10.527 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in delta 10.527 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.527 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.527 * [taylor]: Taking taylor expansion of phi1 in delta 10.527 * [backup-simplify]: Simplify phi1 into phi1 10.527 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.527 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.527 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.527 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.527 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.527 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.527 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.527 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.527 * [taylor]: Taking taylor expansion of delta in delta 10.527 * [backup-simplify]: Simplify 0 into 0 10.527 * [backup-simplify]: Simplify 1 into 1 10.527 * [backup-simplify]: Simplify (/ 1 1) into 1 10.527 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.527 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.527 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.527 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.527 * [taylor]: Taking taylor expansion of theta in delta 10.527 * [backup-simplify]: Simplify theta into theta 10.528 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.528 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.528 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.528 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.528 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.528 * [taylor]: Taking taylor expansion of phi1 in delta 10.528 * [backup-simplify]: Simplify phi1 into phi1 10.528 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.528 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.528 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.528 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.528 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.528 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.528 * [taylor]: Taking taylor expansion of delta in delta 10.528 * [backup-simplify]: Simplify 0 into 0 10.528 * [backup-simplify]: Simplify 1 into 1 10.528 * [backup-simplify]: Simplify (/ 1 1) into 1 10.528 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.528 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.528 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.528 * [taylor]: Taking taylor expansion of phi1 in delta 10.528 * [backup-simplify]: Simplify phi1 into phi1 10.528 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.528 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.528 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.528 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 10.528 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.528 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.528 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.528 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.528 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.529 * [taylor]: Taking taylor expansion of delta in delta 10.529 * [backup-simplify]: Simplify 0 into 0 10.529 * [backup-simplify]: Simplify 1 into 1 10.529 * [backup-simplify]: Simplify (/ 1 1) into 1 10.529 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.529 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.529 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.529 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.529 * [taylor]: Taking taylor expansion of theta in delta 10.529 * [backup-simplify]: Simplify theta into theta 10.529 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.529 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.529 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.529 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.529 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.529 * [taylor]: Taking taylor expansion of phi1 in delta 10.529 * [backup-simplify]: Simplify phi1 into phi1 10.529 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.529 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.529 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.529 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.529 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.529 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.529 * [taylor]: Taking taylor expansion of delta in delta 10.529 * [backup-simplify]: Simplify 0 into 0 10.529 * [backup-simplify]: Simplify 1 into 1 10.530 * [backup-simplify]: Simplify (/ 1 1) into 1 10.530 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.530 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.530 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.530 * [taylor]: Taking taylor expansion of phi1 in delta 10.530 * [backup-simplify]: Simplify phi1 into phi1 10.530 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.530 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.530 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.530 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.530 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.530 * [taylor]: Taking taylor expansion of phi1 in delta 10.530 * [backup-simplify]: Simplify phi1 into phi1 10.530 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.530 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.530 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.530 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 10.530 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.530 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 10.530 * [taylor]: Taking taylor expansion of 1 in delta 10.530 * [backup-simplify]: Simplify 1 into 1 10.530 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.530 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.530 * [taylor]: Taking taylor expansion of delta in delta 10.530 * [backup-simplify]: Simplify 0 into 0 10.530 * [backup-simplify]: Simplify 1 into 1 10.530 * [backup-simplify]: Simplify (/ 1 1) into 1 10.530 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.531 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 10.531 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 10.531 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.531 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.531 * [taylor]: Taking taylor expansion of phi1 in delta 10.531 * [backup-simplify]: Simplify phi1 into phi1 10.531 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.531 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.531 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.531 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.531 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.531 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.531 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.531 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.531 * [taylor]: Taking taylor expansion of delta in delta 10.531 * [backup-simplify]: Simplify 0 into 0 10.531 * [backup-simplify]: Simplify 1 into 1 10.531 * [backup-simplify]: Simplify (/ 1 1) into 1 10.531 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.531 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.531 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.531 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.531 * [taylor]: Taking taylor expansion of theta in delta 10.531 * [backup-simplify]: Simplify theta into theta 10.531 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.531 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.531 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.531 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.531 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.531 * [taylor]: Taking taylor expansion of phi1 in delta 10.531 * [backup-simplify]: Simplify phi1 into phi1 10.531 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.532 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.532 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.532 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.532 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.532 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.532 * [taylor]: Taking taylor expansion of delta in delta 10.532 * [backup-simplify]: Simplify 0 into 0 10.532 * [backup-simplify]: Simplify 1 into 1 10.532 * [backup-simplify]: Simplify (/ 1 1) into 1 10.532 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.532 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.532 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.532 * [taylor]: Taking taylor expansion of phi1 in delta 10.532 * [backup-simplify]: Simplify phi1 into phi1 10.532 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.532 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.532 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.532 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in delta 10.532 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 10.532 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 10.532 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 10.532 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in delta 10.532 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.532 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.532 * [taylor]: Taking taylor expansion of phi1 in delta 10.532 * [backup-simplify]: Simplify phi1 into phi1 10.532 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.532 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.532 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.532 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.533 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.533 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.533 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.533 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.533 * [taylor]: Taking taylor expansion of delta in delta 10.533 * [backup-simplify]: Simplify 0 into 0 10.533 * [backup-simplify]: Simplify 1 into 1 10.533 * [backup-simplify]: Simplify (/ 1 1) into 1 10.533 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.533 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.533 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.533 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.533 * [taylor]: Taking taylor expansion of theta in delta 10.533 * [backup-simplify]: Simplify theta into theta 10.533 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.533 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.533 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.533 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.533 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.533 * [taylor]: Taking taylor expansion of phi1 in delta 10.533 * [backup-simplify]: Simplify phi1 into phi1 10.533 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.533 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.533 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.533 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.533 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.533 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.533 * [taylor]: Taking taylor expansion of delta in delta 10.533 * [backup-simplify]: Simplify 0 into 0 10.533 * [backup-simplify]: Simplify 1 into 1 10.534 * [backup-simplify]: Simplify (/ 1 1) into 1 10.534 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.534 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.534 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.534 * [taylor]: Taking taylor expansion of phi1 in delta 10.534 * [backup-simplify]: Simplify phi1 into phi1 10.534 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.534 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.534 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.534 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 10.534 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.534 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.534 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.534 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.534 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.534 * [taylor]: Taking taylor expansion of delta in delta 10.534 * [backup-simplify]: Simplify 0 into 0 10.534 * [backup-simplify]: Simplify 1 into 1 10.534 * [backup-simplify]: Simplify (/ 1 1) into 1 10.534 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.534 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.534 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.534 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.534 * [taylor]: Taking taylor expansion of theta in delta 10.534 * [backup-simplify]: Simplify theta into theta 10.534 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.534 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.535 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.535 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.535 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.535 * [taylor]: Taking taylor expansion of phi1 in delta 10.535 * [backup-simplify]: Simplify phi1 into phi1 10.535 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.535 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.535 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.535 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.535 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.535 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.535 * [taylor]: Taking taylor expansion of delta in delta 10.535 * [backup-simplify]: Simplify 0 into 0 10.535 * [backup-simplify]: Simplify 1 into 1 10.535 * [backup-simplify]: Simplify (/ 1 1) into 1 10.535 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.535 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.535 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.535 * [taylor]: Taking taylor expansion of phi1 in delta 10.535 * [backup-simplify]: Simplify phi1 into phi1 10.535 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.535 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.535 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.535 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.535 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.535 * [taylor]: Taking taylor expansion of phi1 in delta 10.535 * [backup-simplify]: Simplify phi1 into phi1 10.535 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.535 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.535 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.535 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 10.535 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.536 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 10.536 * [taylor]: Taking taylor expansion of 1 in delta 10.536 * [backup-simplify]: Simplify 1 into 1 10.536 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.536 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.536 * [taylor]: Taking taylor expansion of delta in delta 10.536 * [backup-simplify]: Simplify 0 into 0 10.536 * [backup-simplify]: Simplify 1 into 1 10.536 * [backup-simplify]: Simplify (/ 1 1) into 1 10.536 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.536 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 10.536 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 10.536 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.536 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.536 * [taylor]: Taking taylor expansion of phi1 in delta 10.536 * [backup-simplify]: Simplify phi1 into phi1 10.536 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.536 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.536 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.536 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.536 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.536 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.536 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.536 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.536 * [taylor]: Taking taylor expansion of delta in delta 10.536 * [backup-simplify]: Simplify 0 into 0 10.536 * [backup-simplify]: Simplify 1 into 1 10.537 * [backup-simplify]: Simplify (/ 1 1) into 1 10.537 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.537 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.537 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.537 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.537 * [taylor]: Taking taylor expansion of theta in delta 10.537 * [backup-simplify]: Simplify theta into theta 10.537 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.537 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.537 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.537 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.537 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.537 * [taylor]: Taking taylor expansion of phi1 in delta 10.537 * [backup-simplify]: Simplify phi1 into phi1 10.537 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.537 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.537 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.537 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.537 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.537 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.537 * [taylor]: Taking taylor expansion of delta in delta 10.537 * [backup-simplify]: Simplify 0 into 0 10.537 * [backup-simplify]: Simplify 1 into 1 10.537 * [backup-simplify]: Simplify (/ 1 1) into 1 10.537 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.537 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.537 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.537 * [taylor]: Taking taylor expansion of phi1 in delta 10.537 * [backup-simplify]: Simplify phi1 into phi1 10.537 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.537 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.538 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.538 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.538 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.538 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.538 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 10.538 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.538 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.538 * [backup-simplify]: Simplify (- 0) into 0 10.538 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.538 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.538 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.539 * [backup-simplify]: Simplify (- 0) into 0 10.539 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.539 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 10.539 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.539 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.539 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.539 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.539 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 10.539 * [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))))) 10.539 * [backup-simplify]: Simplify (* (- (sin (/ 1 phi1))) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) 10.539 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.540 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.540 * [backup-simplify]: Simplify (- 0) into 0 10.540 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.540 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.540 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.540 * [backup-simplify]: Simplify (- 0) into 0 10.540 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.540 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 10.540 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.540 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.541 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.541 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.541 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 10.541 * [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))))) 10.541 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.541 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.541 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.541 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 10.542 * [backup-simplify]: Simplify (+ (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.542 * [backup-simplify]: Simplify (* 1 (cos (/ 1 delta))) into (cos (/ 1 delta)) 10.542 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.542 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.542 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.542 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.542 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.542 * [backup-simplify]: Simplify (- 0) into 0 10.542 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.543 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.543 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.543 * [backup-simplify]: Simplify (- 0) into 0 10.543 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.543 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 10.543 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.543 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.543 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.543 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.543 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 10.544 * [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))))) 10.544 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 10.544 * [backup-simplify]: Simplify (- (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 10.544 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 10.547 * [backup-simplify]: Simplify (+ (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.547 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in phi1 10.547 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.547 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.547 * [taylor]: Taking taylor expansion of delta in phi1 10.547 * [backup-simplify]: Simplify delta into delta 10.547 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.547 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.547 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.547 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in phi1 10.547 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 10.547 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.547 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.547 * [taylor]: Taking taylor expansion of phi1 in phi1 10.547 * [backup-simplify]: Simplify 0 into 0 10.547 * [backup-simplify]: Simplify 1 into 1 10.548 * [backup-simplify]: Simplify (/ 1 1) into 1 10.548 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.548 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.548 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.548 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.548 * [taylor]: Taking taylor expansion of delta in phi1 10.548 * [backup-simplify]: Simplify delta into delta 10.548 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.548 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.548 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.548 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.548 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.548 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.548 * [taylor]: Taking taylor expansion of theta in phi1 10.548 * [backup-simplify]: Simplify theta into theta 10.549 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.549 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.549 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.549 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.549 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.549 * [taylor]: Taking taylor expansion of phi1 in phi1 10.549 * [backup-simplify]: Simplify 0 into 0 10.549 * [backup-simplify]: Simplify 1 into 1 10.549 * [backup-simplify]: Simplify (/ 1 1) into 1 10.549 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.549 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 10.550 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.550 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.550 * [taylor]: Taking taylor expansion of delta in phi1 10.550 * [backup-simplify]: Simplify delta into delta 10.550 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.550 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.550 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.550 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 10.550 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.550 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.550 * [taylor]: Taking taylor expansion of phi1 in phi1 10.550 * [backup-simplify]: Simplify 0 into 0 10.550 * [backup-simplify]: Simplify 1 into 1 10.550 * [backup-simplify]: Simplify (/ 1 1) into 1 10.551 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.551 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.551 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.551 * [backup-simplify]: Simplify (- 0) into 0 10.551 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.551 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 10.551 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 10.552 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 10.552 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 10.552 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 10.552 * [backup-simplify]: Simplify (- 0) into 0 10.552 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 10.552 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 10.553 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 10.553 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 10.553 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.553 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.554 * [backup-simplify]: Simplify (- 0) into 0 10.554 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.554 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 10.554 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 10.555 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 10.555 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.556 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.556 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 10.556 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.556 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.556 * [taylor]: Taking taylor expansion of delta in theta 10.556 * [backup-simplify]: Simplify delta into delta 10.556 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.556 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.557 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.557 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 10.557 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in theta 10.557 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.557 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.557 * [taylor]: Taking taylor expansion of phi1 in theta 10.557 * [backup-simplify]: Simplify phi1 into phi1 10.557 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.557 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.557 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.557 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 10.557 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.557 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.557 * [taylor]: Taking taylor expansion of phi1 in theta 10.557 * [backup-simplify]: Simplify phi1 into phi1 10.557 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.557 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.557 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.557 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 10.557 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.557 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.557 * [taylor]: Taking taylor expansion of theta in theta 10.557 * [backup-simplify]: Simplify 0 into 0 10.557 * [backup-simplify]: Simplify 1 into 1 10.558 * [backup-simplify]: Simplify (/ 1 1) into 1 10.558 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.558 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.558 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.558 * [taylor]: Taking taylor expansion of delta in theta 10.558 * [backup-simplify]: Simplify delta into delta 10.559 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.559 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.559 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.559 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 10.559 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.559 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.559 * [taylor]: Taking taylor expansion of delta in theta 10.559 * [backup-simplify]: Simplify delta into delta 10.559 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.559 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.559 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.559 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 10.559 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.559 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.559 * [taylor]: Taking taylor expansion of phi1 in theta 10.559 * [backup-simplify]: Simplify phi1 into phi1 10.560 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.560 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.560 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.560 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.560 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.560 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.560 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.560 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.561 * [backup-simplify]: Simplify (- 0) into 0 10.561 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.561 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 10.561 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 10.561 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 10.562 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 10.562 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 10.562 * [backup-simplify]: Simplify (- 0) into 0 10.562 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 10.562 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 10.562 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 10.562 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 10.563 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 10.563 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 10.563 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 10.563 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 10.563 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 10.564 * [backup-simplify]: Simplify (- 0) into 0 10.564 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 10.564 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 10.564 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 10.565 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 10.565 * [backup-simplify]: Simplify (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.567 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 10.567 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 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))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 10.567 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 10.568 * [backup-simplify]: Simplify (+ 0) into 0 10.569 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.569 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.570 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.571 * [backup-simplify]: Simplify (- 0) into 0 10.571 * [backup-simplify]: Simplify (+ 0 0) into 0 10.571 * [backup-simplify]: Simplify (+ 0) into 0 10.572 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.573 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.573 * [backup-simplify]: Simplify (- 0) into 0 10.574 * [backup-simplify]: Simplify (+ 0 0) into 0 10.574 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 10.574 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 10.575 * [backup-simplify]: Simplify (+ 0) into 0 10.575 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.575 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.577 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.577 * [backup-simplify]: Simplify (+ 0 0) into 0 10.577 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.577 * [backup-simplify]: Simplify (+ 0 0) into 0 10.578 * [backup-simplify]: Simplify (+ 0) into 0 10.578 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.579 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.580 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.580 * [backup-simplify]: Simplify (+ 0 0) into 0 10.581 * [backup-simplify]: Simplify (- 0) into 0 10.581 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 10.582 * [backup-simplify]: Simplify (+ 0) into 0 10.582 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.582 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.584 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.584 * [backup-simplify]: Simplify (+ 0 0) into 0 10.584 * [backup-simplify]: Simplify (+ 0) into 0 10.585 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.585 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.586 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.586 * [backup-simplify]: Simplify (- 0) into 0 10.586 * [backup-simplify]: Simplify (+ 0 0) into 0 10.586 * [backup-simplify]: Simplify (+ 0) into 0 10.587 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.587 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.587 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.588 * [backup-simplify]: Simplify (- 0) into 0 10.588 * [backup-simplify]: Simplify (+ 0 0) into 0 10.588 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 10.588 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 10.588 * [backup-simplify]: Simplify (+ 0) into 0 10.589 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.589 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.590 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.593 * [backup-simplify]: Simplify (+ 0 0) into 0 10.593 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.594 * [backup-simplify]: Simplify (+ 0 0) into 0 10.594 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.594 * [backup-simplify]: Simplify (+ 0 0) into 0 10.595 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ 1 delta)))) into 0 10.595 * [backup-simplify]: Simplify (+ 0) into 0 10.595 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.595 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.596 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.596 * [backup-simplify]: Simplify (- 0) into 0 10.597 * [backup-simplify]: Simplify (+ 0 0) into 0 10.597 * [backup-simplify]: Simplify (+ 0) into 0 10.597 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.598 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.598 * [backup-simplify]: Simplify (- 0) into 0 10.598 * [backup-simplify]: Simplify (+ 0 0) into 0 10.599 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 10.599 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 10.599 * [backup-simplify]: Simplify (+ 0) into 0 10.599 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.599 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.600 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.600 * [backup-simplify]: Simplify (+ 0 0) into 0 10.600 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.601 * [backup-simplify]: Simplify (+ 0 0) into 0 10.601 * [backup-simplify]: Simplify (+ 0) into 0 10.601 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.601 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.602 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.602 * [backup-simplify]: Simplify (+ 0 0) into 0 10.603 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 10.603 * [backup-simplify]: Simplify (- 0) into 0 10.603 * [backup-simplify]: Simplify (+ 0 0) into 0 10.603 * [backup-simplify]: Simplify (+ 0 0) into 0 10.603 * [taylor]: Taking taylor expansion of 0 in phi1 10.603 * [backup-simplify]: Simplify 0 into 0 10.603 * [taylor]: Taking taylor expansion of 0 in theta 10.603 * [backup-simplify]: Simplify 0 into 0 10.603 * [backup-simplify]: Simplify 0 into 0 10.604 * [backup-simplify]: Simplify (+ 0) into 0 10.604 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.604 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.605 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.605 * [backup-simplify]: Simplify (- 0) into 0 10.605 * [backup-simplify]: Simplify (+ 0 0) into 0 10.606 * [backup-simplify]: Simplify (+ 0) into 0 10.606 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 10.606 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 10.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.607 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 10.607 * [backup-simplify]: Simplify (- 0) into 0 10.607 * [backup-simplify]: Simplify (+ 0 0) into 0 10.607 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 10.608 * [backup-simplify]: Simplify (+ 0) into 0 10.608 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 10.608 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.609 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 10.609 * [backup-simplify]: Simplify (+ 0 0) into 0 10.609 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 10.610 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 10.610 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.610 * [backup-simplify]: Simplify (+ 0) into 0 10.611 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.611 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.611 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.611 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.612 * [backup-simplify]: Simplify (- 0) into 0 10.612 * [backup-simplify]: Simplify (+ 0 0) into 0 10.612 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 10.612 * [backup-simplify]: Simplify (+ 0 0) into 0 10.613 * [backup-simplify]: Simplify (- 0) into 0 10.613 * [backup-simplify]: Simplify (+ 0 0) into 0 10.613 * [taylor]: Taking taylor expansion of 0 in theta 10.613 * [backup-simplify]: Simplify 0 into 0 10.613 * [backup-simplify]: Simplify 0 into 0 10.613 * [backup-simplify]: Simplify (+ 0) into 0 10.613 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.614 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.615 * [backup-simplify]: Simplify (- 0) into 0 10.615 * [backup-simplify]: Simplify (+ 0 0) into 0 10.615 * [backup-simplify]: Simplify (+ 0) into 0 10.615 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 10.616 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.616 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 10.617 * [backup-simplify]: Simplify (+ 0 0) into 0 10.617 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 10.617 * [backup-simplify]: Simplify (+ 0) into 0 10.617 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 10.617 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.618 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.618 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 10.618 * [backup-simplify]: Simplify (- 0) into 0 10.619 * [backup-simplify]: Simplify (+ 0 0) into 0 10.619 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 10.619 * [backup-simplify]: Simplify (+ 0) into 0 10.619 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.620 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.620 * [backup-simplify]: Simplify (+ 0 0) into 0 10.621 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.621 * [backup-simplify]: Simplify (+ 0) into 0 10.621 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 10.621 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.622 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 10.622 * [backup-simplify]: Simplify (+ 0 0) into 0 10.622 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 10.623 * [backup-simplify]: Simplify (+ 0) into 0 10.623 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 10.623 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 10.624 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.624 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 10.624 * [backup-simplify]: Simplify (- 0) into 0 10.624 * [backup-simplify]: Simplify (+ 0 0) into 0 10.624 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 10.625 * [backup-simplify]: Simplify (+ 0 0) into 0 10.625 * [backup-simplify]: Simplify (- 0) into 0 10.625 * [backup-simplify]: Simplify (+ 0 0) into 0 10.625 * [backup-simplify]: Simplify 0 into 0 10.625 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 10.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.626 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.627 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.627 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.627 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.628 * [backup-simplify]: Simplify (- 0) into 0 10.628 * [backup-simplify]: Simplify (+ 0 0) into 0 10.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.629 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.629 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.630 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.630 * [backup-simplify]: Simplify (- 0) into 0 10.630 * [backup-simplify]: Simplify (+ 0 0) into 0 10.631 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 10.631 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.633 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.634 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.634 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.635 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.635 * [backup-simplify]: Simplify (+ 0 0) into 0 10.636 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.636 * [backup-simplify]: Simplify (+ 0 0) into 0 10.637 * [backup-simplify]: Simplify (- 0) into 0 10.638 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.638 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.639 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.639 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.640 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.640 * [backup-simplify]: Simplify (+ 0 0) into 0 10.641 * [backup-simplify]: Simplify (- 0) into 0 10.642 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 10.643 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.643 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.645 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.645 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.645 * [backup-simplify]: Simplify (+ 0 0) into 0 10.646 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.647 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.647 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.648 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.649 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.649 * [backup-simplify]: Simplify (- 0) into 0 10.649 * [backup-simplify]: Simplify (+ 0 0) into 0 10.650 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.651 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.651 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.652 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.653 * [backup-simplify]: Simplify (- 0) into 0 10.653 * [backup-simplify]: Simplify (+ 0 0) into 0 10.654 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 10.654 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.655 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.656 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.657 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.658 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.658 * [backup-simplify]: Simplify (+ 0 0) into 0 10.659 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.659 * [backup-simplify]: Simplify (+ 0 0) into 0 10.660 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.660 * [backup-simplify]: Simplify (+ 0 0) into 0 10.661 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 10.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.663 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.664 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.665 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.665 * [backup-simplify]: Simplify (- 0) into 0 10.666 * [backup-simplify]: Simplify (+ 0 0) into 0 10.666 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.667 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.667 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.668 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.669 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.669 * [backup-simplify]: Simplify (- 0) into 0 10.670 * [backup-simplify]: Simplify (+ 0 0) into 0 10.670 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 10.671 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.672 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.673 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.674 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.674 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.675 * [backup-simplify]: Simplify (+ 0 0) into 0 10.675 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.675 * [backup-simplify]: Simplify (+ 0 0) into 0 10.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.677 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.678 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.679 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.679 * [backup-simplify]: Simplify (+ 0 0) into 0 10.680 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 10.681 * [backup-simplify]: Simplify (- 0) into 0 10.681 * [backup-simplify]: Simplify (+ 0 0) into 0 10.682 * [backup-simplify]: Simplify (+ 0 0) into 0 10.682 * [taylor]: Taking taylor expansion of 0 in phi1 10.682 * [backup-simplify]: Simplify 0 into 0 10.682 * [taylor]: Taking taylor expansion of 0 in theta 10.682 * [backup-simplify]: Simplify 0 into 0 10.682 * [backup-simplify]: Simplify 0 into 0 10.682 * [taylor]: Taking taylor expansion of 0 in theta 10.682 * [backup-simplify]: Simplify 0 into 0 10.682 * [backup-simplify]: Simplify 0 into 0 10.683 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.684 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.685 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.685 * [backup-simplify]: Simplify (- 0) into 0 10.686 * [backup-simplify]: Simplify (+ 0 0) into 0 10.687 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.688 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.688 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.689 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.689 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.690 * [backup-simplify]: Simplify (- 0) into 0 10.690 * [backup-simplify]: Simplify (+ 0 0) into 0 10.691 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 10.691 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.692 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.693 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.694 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.694 * [backup-simplify]: Simplify (+ 0 0) into 0 10.695 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 10.696 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 10.696 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 10.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.698 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.699 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.699 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.700 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.700 * [backup-simplify]: Simplify (- 0) into 0 10.701 * [backup-simplify]: Simplify (+ 0 0) into 0 10.701 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 10.702 * [backup-simplify]: Simplify (+ 0 0) into 0 10.702 * [backup-simplify]: Simplify (- 0) into 0 10.702 * [backup-simplify]: Simplify (+ 0 0) into 0 10.703 * [taylor]: Taking taylor expansion of 0 in theta 10.703 * [backup-simplify]: Simplify 0 into 0 10.703 * [backup-simplify]: Simplify 0 into 0 10.703 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (cos phi1) (* (sin delta) (* (cos theta) (sin phi1)))) (* (pow (sin phi1) 2) (cos delta)))) 10.705 * [backup-simplify]: Simplify (log (exp (+ (fma 1 (cos (/ 1 (- delta))) (- (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))) (fma (- (sin (/ 1 (- phi1)))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))))) into (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 10.705 * [approximate]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in (delta phi1 theta) around 0 10.705 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in theta 10.705 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in theta 10.705 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 10.705 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in theta 10.705 * [taylor]: Taking taylor expansion of 1 in theta 10.705 * [backup-simplify]: Simplify 1 into 1 10.705 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.705 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.705 * [taylor]: Taking taylor expansion of -1 in theta 10.705 * [backup-simplify]: Simplify -1 into -1 10.705 * [taylor]: Taking taylor expansion of delta in theta 10.705 * [backup-simplify]: Simplify delta into delta 10.706 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.706 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.706 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.706 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 10.706 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 10.706 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.706 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.706 * [taylor]: Taking taylor expansion of -1 in theta 10.706 * [backup-simplify]: Simplify -1 into -1 10.706 * [taylor]: Taking taylor expansion of phi1 in theta 10.706 * [backup-simplify]: Simplify phi1 into phi1 10.706 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.706 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.706 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.706 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 10.706 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.706 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 10.706 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.706 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.706 * [taylor]: Taking taylor expansion of -1 in theta 10.706 * [backup-simplify]: Simplify -1 into -1 10.706 * [taylor]: Taking taylor expansion of delta in theta 10.706 * [backup-simplify]: Simplify delta into delta 10.706 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.706 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.707 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.707 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 10.707 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.707 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.707 * [taylor]: Taking taylor expansion of -1 in theta 10.707 * [backup-simplify]: Simplify -1 into -1 10.707 * [taylor]: Taking taylor expansion of phi1 in theta 10.707 * [backup-simplify]: Simplify phi1 into phi1 10.707 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.707 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.707 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.707 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.707 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.707 * [taylor]: Taking taylor expansion of -1 in theta 10.707 * [backup-simplify]: Simplify -1 into -1 10.707 * [taylor]: Taking taylor expansion of theta in theta 10.707 * [backup-simplify]: Simplify 0 into 0 10.707 * [backup-simplify]: Simplify 1 into 1 10.708 * [backup-simplify]: Simplify (/ -1 1) into -1 10.708 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.708 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 10.708 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.708 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.708 * [taylor]: Taking taylor expansion of -1 in theta 10.708 * [backup-simplify]: Simplify -1 into -1 10.708 * [taylor]: Taking taylor expansion of phi1 in theta 10.708 * [backup-simplify]: Simplify phi1 into phi1 10.708 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.708 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.708 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.708 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.708 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.708 * [taylor]: Taking taylor expansion of -1 in theta 10.708 * [backup-simplify]: Simplify -1 into -1 10.708 * [taylor]: Taking taylor expansion of delta in theta 10.708 * [backup-simplify]: Simplify delta into delta 10.708 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.708 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.708 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.708 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 10.709 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.709 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 10.709 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in theta 10.709 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.709 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.709 * [taylor]: Taking taylor expansion of -1 in theta 10.709 * [backup-simplify]: Simplify -1 into -1 10.709 * [taylor]: Taking taylor expansion of phi1 in theta 10.709 * [backup-simplify]: Simplify phi1 into phi1 10.709 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.709 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.709 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.709 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 10.709 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.709 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 10.709 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.709 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.709 * [taylor]: Taking taylor expansion of -1 in theta 10.709 * [backup-simplify]: Simplify -1 into -1 10.709 * [taylor]: Taking taylor expansion of delta in theta 10.709 * [backup-simplify]: Simplify delta into delta 10.709 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.709 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.709 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.709 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 10.709 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.709 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.709 * [taylor]: Taking taylor expansion of -1 in theta 10.710 * [backup-simplify]: Simplify -1 into -1 10.710 * [taylor]: Taking taylor expansion of phi1 in theta 10.710 * [backup-simplify]: Simplify phi1 into phi1 10.710 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.710 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.710 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.710 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.710 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.710 * [taylor]: Taking taylor expansion of -1 in theta 10.710 * [backup-simplify]: Simplify -1 into -1 10.710 * [taylor]: Taking taylor expansion of theta in theta 10.710 * [backup-simplify]: Simplify 0 into 0 10.710 * [backup-simplify]: Simplify 1 into 1 10.710 * [backup-simplify]: Simplify (/ -1 1) into -1 10.711 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.711 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 10.711 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.711 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.711 * [taylor]: Taking taylor expansion of -1 in theta 10.711 * [backup-simplify]: Simplify -1 into -1 10.711 * [taylor]: Taking taylor expansion of phi1 in theta 10.711 * [backup-simplify]: Simplify phi1 into phi1 10.711 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.711 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.711 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.711 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.711 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.711 * [taylor]: Taking taylor expansion of -1 in theta 10.711 * [backup-simplify]: Simplify -1 into -1 10.711 * [taylor]: Taking taylor expansion of delta in theta 10.711 * [backup-simplify]: Simplify delta into delta 10.711 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.711 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.711 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.711 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 10.711 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.711 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.711 * [taylor]: Taking taylor expansion of -1 in theta 10.711 * [backup-simplify]: Simplify -1 into -1 10.711 * [taylor]: Taking taylor expansion of phi1 in theta 10.711 * [backup-simplify]: Simplify phi1 into phi1 10.711 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.712 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.712 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.712 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 10.712 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.712 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 10.712 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.712 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.712 * [taylor]: Taking taylor expansion of -1 in theta 10.712 * [backup-simplify]: Simplify -1 into -1 10.712 * [taylor]: Taking taylor expansion of delta in theta 10.712 * [backup-simplify]: Simplify delta into delta 10.712 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.712 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.712 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.712 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 10.712 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.712 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.712 * [taylor]: Taking taylor expansion of -1 in theta 10.712 * [backup-simplify]: Simplify -1 into -1 10.712 * [taylor]: Taking taylor expansion of phi1 in theta 10.712 * [backup-simplify]: Simplify phi1 into phi1 10.712 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.712 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.712 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.713 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.713 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.713 * [taylor]: Taking taylor expansion of -1 in theta 10.713 * [backup-simplify]: Simplify -1 into -1 10.713 * [taylor]: Taking taylor expansion of theta in theta 10.713 * [backup-simplify]: Simplify 0 into 0 10.713 * [backup-simplify]: Simplify 1 into 1 10.713 * [backup-simplify]: Simplify (/ -1 1) into -1 10.713 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.713 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 10.713 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.713 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.713 * [taylor]: Taking taylor expansion of -1 in theta 10.713 * [backup-simplify]: Simplify -1 into -1 10.713 * [taylor]: Taking taylor expansion of phi1 in theta 10.713 * [backup-simplify]: Simplify phi1 into phi1 10.713 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.714 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.714 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.714 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.714 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.714 * [taylor]: Taking taylor expansion of -1 in theta 10.714 * [backup-simplify]: Simplify -1 into -1 10.714 * [taylor]: Taking taylor expansion of delta in theta 10.714 * [backup-simplify]: Simplify delta into delta 10.714 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.714 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.714 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.714 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in phi1 10.714 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in phi1 10.714 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 10.714 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in phi1 10.714 * [taylor]: Taking taylor expansion of 1 in phi1 10.714 * [backup-simplify]: Simplify 1 into 1 10.714 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.714 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.714 * [taylor]: Taking taylor expansion of -1 in phi1 10.714 * [backup-simplify]: Simplify -1 into -1 10.714 * [taylor]: Taking taylor expansion of delta in phi1 10.714 * [backup-simplify]: Simplify delta into delta 10.714 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.714 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.714 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.715 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 10.715 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 10.715 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.715 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.715 * [taylor]: Taking taylor expansion of -1 in phi1 10.715 * [backup-simplify]: Simplify -1 into -1 10.715 * [taylor]: Taking taylor expansion of phi1 in phi1 10.715 * [backup-simplify]: Simplify 0 into 0 10.715 * [backup-simplify]: Simplify 1 into 1 10.715 * [backup-simplify]: Simplify (/ -1 1) into -1 10.715 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.715 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 10.715 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.715 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 10.715 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.715 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.715 * [taylor]: Taking taylor expansion of -1 in phi1 10.715 * [backup-simplify]: Simplify -1 into -1 10.715 * [taylor]: Taking taylor expansion of delta in phi1 10.716 * [backup-simplify]: Simplify delta into delta 10.716 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.716 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.716 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.716 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 10.716 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.716 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.716 * [taylor]: Taking taylor expansion of -1 in phi1 10.716 * [backup-simplify]: Simplify -1 into -1 10.716 * [taylor]: Taking taylor expansion of phi1 in phi1 10.716 * [backup-simplify]: Simplify 0 into 0 10.716 * [backup-simplify]: Simplify 1 into 1 10.716 * [backup-simplify]: Simplify (/ -1 1) into -1 10.716 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.716 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.716 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.716 * [taylor]: Taking taylor expansion of -1 in phi1 10.717 * [backup-simplify]: Simplify -1 into -1 10.717 * [taylor]: Taking taylor expansion of theta in phi1 10.717 * [backup-simplify]: Simplify theta into theta 10.717 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.717 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.717 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.717 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 10.717 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.717 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.717 * [taylor]: Taking taylor expansion of -1 in phi1 10.717 * [backup-simplify]: Simplify -1 into -1 10.717 * [taylor]: Taking taylor expansion of phi1 in phi1 10.717 * [backup-simplify]: Simplify 0 into 0 10.717 * [backup-simplify]: Simplify 1 into 1 10.717 * [backup-simplify]: Simplify (/ -1 1) into -1 10.717 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.717 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.718 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.718 * [taylor]: Taking taylor expansion of -1 in phi1 10.718 * [backup-simplify]: Simplify -1 into -1 10.718 * [taylor]: Taking taylor expansion of delta in phi1 10.718 * [backup-simplify]: Simplify delta into delta 10.718 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.718 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.718 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.718 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 10.718 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.718 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 10.718 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in phi1 10.718 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.718 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.718 * [taylor]: Taking taylor expansion of -1 in phi1 10.718 * [backup-simplify]: Simplify -1 into -1 10.718 * [taylor]: Taking taylor expansion of phi1 in phi1 10.718 * [backup-simplify]: Simplify 0 into 0 10.718 * [backup-simplify]: Simplify 1 into 1 10.719 * [backup-simplify]: Simplify (/ -1 1) into -1 10.719 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.719 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 10.719 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.719 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 10.719 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.719 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.719 * [taylor]: Taking taylor expansion of -1 in phi1 10.719 * [backup-simplify]: Simplify -1 into -1 10.719 * [taylor]: Taking taylor expansion of delta in phi1 10.719 * [backup-simplify]: Simplify delta into delta 10.719 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.719 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.719 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.719 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 10.719 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.719 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.719 * [taylor]: Taking taylor expansion of -1 in phi1 10.719 * [backup-simplify]: Simplify -1 into -1 10.719 * [taylor]: Taking taylor expansion of phi1 in phi1 10.719 * [backup-simplify]: Simplify 0 into 0 10.719 * [backup-simplify]: Simplify 1 into 1 10.720 * [backup-simplify]: Simplify (/ -1 1) into -1 10.720 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.720 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.720 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.720 * [taylor]: Taking taylor expansion of -1 in phi1 10.720 * [backup-simplify]: Simplify -1 into -1 10.720 * [taylor]: Taking taylor expansion of theta in phi1 10.720 * [backup-simplify]: Simplify theta into theta 10.720 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.720 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.720 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.720 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 10.720 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.720 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.720 * [taylor]: Taking taylor expansion of -1 in phi1 10.720 * [backup-simplify]: Simplify -1 into -1 10.720 * [taylor]: Taking taylor expansion of phi1 in phi1 10.720 * [backup-simplify]: Simplify 0 into 0 10.720 * [backup-simplify]: Simplify 1 into 1 10.721 * [backup-simplify]: Simplify (/ -1 1) into -1 10.721 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.721 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.721 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.721 * [taylor]: Taking taylor expansion of -1 in phi1 10.721 * [backup-simplify]: Simplify -1 into -1 10.721 * [taylor]: Taking taylor expansion of delta in phi1 10.721 * [backup-simplify]: Simplify delta into delta 10.721 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.721 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.721 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.721 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 10.721 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.721 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.721 * [taylor]: Taking taylor expansion of -1 in phi1 10.721 * [backup-simplify]: Simplify -1 into -1 10.721 * [taylor]: Taking taylor expansion of phi1 in phi1 10.721 * [backup-simplify]: Simplify 0 into 0 10.721 * [backup-simplify]: Simplify 1 into 1 10.726 * [backup-simplify]: Simplify (/ -1 1) into -1 10.726 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.726 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 10.726 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.727 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 10.727 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.727 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.727 * [taylor]: Taking taylor expansion of -1 in phi1 10.727 * [backup-simplify]: Simplify -1 into -1 10.727 * [taylor]: Taking taylor expansion of delta in phi1 10.727 * [backup-simplify]: Simplify delta into delta 10.727 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.727 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.727 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.727 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 10.727 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.727 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.727 * [taylor]: Taking taylor expansion of -1 in phi1 10.727 * [backup-simplify]: Simplify -1 into -1 10.727 * [taylor]: Taking taylor expansion of phi1 in phi1 10.727 * [backup-simplify]: Simplify 0 into 0 10.727 * [backup-simplify]: Simplify 1 into 1 10.728 * [backup-simplify]: Simplify (/ -1 1) into -1 10.728 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.728 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.728 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.728 * [taylor]: Taking taylor expansion of -1 in phi1 10.728 * [backup-simplify]: Simplify -1 into -1 10.728 * [taylor]: Taking taylor expansion of theta in phi1 10.728 * [backup-simplify]: Simplify theta into theta 10.728 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.728 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.728 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.728 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 10.728 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.728 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.728 * [taylor]: Taking taylor expansion of -1 in phi1 10.728 * [backup-simplify]: Simplify -1 into -1 10.728 * [taylor]: Taking taylor expansion of phi1 in phi1 10.728 * [backup-simplify]: Simplify 0 into 0 10.728 * [backup-simplify]: Simplify 1 into 1 10.729 * [backup-simplify]: Simplify (/ -1 1) into -1 10.729 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.729 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.729 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.729 * [taylor]: Taking taylor expansion of -1 in phi1 10.729 * [backup-simplify]: Simplify -1 into -1 10.729 * [taylor]: Taking taylor expansion of delta in phi1 10.729 * [backup-simplify]: Simplify delta into delta 10.729 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.729 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.729 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.729 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 10.729 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 10.729 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 10.730 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 10.730 * [taylor]: Taking taylor expansion of 1 in delta 10.730 * [backup-simplify]: Simplify 1 into 1 10.730 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.730 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.730 * [taylor]: Taking taylor expansion of -1 in delta 10.730 * [backup-simplify]: Simplify -1 into -1 10.730 * [taylor]: Taking taylor expansion of delta in delta 10.730 * [backup-simplify]: Simplify 0 into 0 10.730 * [backup-simplify]: Simplify 1 into 1 10.730 * [backup-simplify]: Simplify (/ -1 1) into -1 10.730 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.730 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 10.730 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.730 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.730 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.730 * [taylor]: Taking taylor expansion of -1 in delta 10.730 * [backup-simplify]: Simplify -1 into -1 10.730 * [taylor]: Taking taylor expansion of phi1 in delta 10.730 * [backup-simplify]: Simplify phi1 into phi1 10.731 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.731 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.731 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.731 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.731 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.731 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.731 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.731 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.731 * [taylor]: Taking taylor expansion of -1 in delta 10.731 * [backup-simplify]: Simplify -1 into -1 10.731 * [taylor]: Taking taylor expansion of delta in delta 10.731 * [backup-simplify]: Simplify 0 into 0 10.731 * [backup-simplify]: Simplify 1 into 1 10.731 * [backup-simplify]: Simplify (/ -1 1) into -1 10.732 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.732 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.732 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.732 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.732 * [taylor]: Taking taylor expansion of -1 in delta 10.732 * [backup-simplify]: Simplify -1 into -1 10.732 * [taylor]: Taking taylor expansion of phi1 in delta 10.732 * [backup-simplify]: Simplify phi1 into phi1 10.732 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.732 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.732 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.732 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.732 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.732 * [taylor]: Taking taylor expansion of -1 in delta 10.732 * [backup-simplify]: Simplify -1 into -1 10.732 * [taylor]: Taking taylor expansion of theta in delta 10.732 * [backup-simplify]: Simplify theta into theta 10.732 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.732 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.732 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.732 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.732 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.732 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.732 * [taylor]: Taking taylor expansion of -1 in delta 10.732 * [backup-simplify]: Simplify -1 into -1 10.732 * [taylor]: Taking taylor expansion of phi1 in delta 10.732 * [backup-simplify]: Simplify phi1 into phi1 10.732 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.733 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.733 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.733 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.733 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.733 * [taylor]: Taking taylor expansion of -1 in delta 10.733 * [backup-simplify]: Simplify -1 into -1 10.733 * [taylor]: Taking taylor expansion of delta in delta 10.733 * [backup-simplify]: Simplify 0 into 0 10.733 * [backup-simplify]: Simplify 1 into 1 10.733 * [backup-simplify]: Simplify (/ -1 1) into -1 10.733 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.733 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 10.734 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.734 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.734 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in delta 10.734 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.734 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.734 * [taylor]: Taking taylor expansion of -1 in delta 10.734 * [backup-simplify]: Simplify -1 into -1 10.734 * [taylor]: Taking taylor expansion of phi1 in delta 10.734 * [backup-simplify]: Simplify phi1 into phi1 10.734 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.734 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.734 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.734 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.734 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.734 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.734 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.734 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.734 * [taylor]: Taking taylor expansion of -1 in delta 10.734 * [backup-simplify]: Simplify -1 into -1 10.734 * [taylor]: Taking taylor expansion of delta in delta 10.734 * [backup-simplify]: Simplify 0 into 0 10.734 * [backup-simplify]: Simplify 1 into 1 10.735 * [backup-simplify]: Simplify (/ -1 1) into -1 10.735 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.735 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.735 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.735 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.735 * [taylor]: Taking taylor expansion of -1 in delta 10.735 * [backup-simplify]: Simplify -1 into -1 10.735 * [taylor]: Taking taylor expansion of phi1 in delta 10.735 * [backup-simplify]: Simplify phi1 into phi1 10.735 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.735 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.735 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.735 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.735 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.735 * [taylor]: Taking taylor expansion of -1 in delta 10.735 * [backup-simplify]: Simplify -1 into -1 10.735 * [taylor]: Taking taylor expansion of theta in delta 10.735 * [backup-simplify]: Simplify theta into theta 10.735 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.736 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.736 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.736 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.736 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.736 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.736 * [taylor]: Taking taylor expansion of -1 in delta 10.736 * [backup-simplify]: Simplify -1 into -1 10.736 * [taylor]: Taking taylor expansion of phi1 in delta 10.736 * [backup-simplify]: Simplify phi1 into phi1 10.736 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.736 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.736 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.736 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.736 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.736 * [taylor]: Taking taylor expansion of -1 in delta 10.736 * [backup-simplify]: Simplify -1 into -1 10.736 * [taylor]: Taking taylor expansion of delta in delta 10.736 * [backup-simplify]: Simplify 0 into 0 10.736 * [backup-simplify]: Simplify 1 into 1 10.737 * [backup-simplify]: Simplify (/ -1 1) into -1 10.737 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.737 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.737 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.737 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.737 * [taylor]: Taking taylor expansion of -1 in delta 10.737 * [backup-simplify]: Simplify -1 into -1 10.737 * [taylor]: Taking taylor expansion of phi1 in delta 10.737 * [backup-simplify]: Simplify phi1 into phi1 10.737 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.738 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.738 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.738 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.738 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.738 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.738 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.738 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.738 * [taylor]: Taking taylor expansion of -1 in delta 10.738 * [backup-simplify]: Simplify -1 into -1 10.738 * [taylor]: Taking taylor expansion of delta in delta 10.738 * [backup-simplify]: Simplify 0 into 0 10.738 * [backup-simplify]: Simplify 1 into 1 10.738 * [backup-simplify]: Simplify (/ -1 1) into -1 10.739 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.739 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.739 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.739 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.739 * [taylor]: Taking taylor expansion of -1 in delta 10.739 * [backup-simplify]: Simplify -1 into -1 10.739 * [taylor]: Taking taylor expansion of phi1 in delta 10.739 * [backup-simplify]: Simplify phi1 into phi1 10.739 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.739 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.739 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.739 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.739 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.739 * [taylor]: Taking taylor expansion of -1 in delta 10.739 * [backup-simplify]: Simplify -1 into -1 10.739 * [taylor]: Taking taylor expansion of theta in delta 10.739 * [backup-simplify]: Simplify theta into theta 10.739 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.739 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.739 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.739 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.739 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.739 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.739 * [taylor]: Taking taylor expansion of -1 in delta 10.739 * [backup-simplify]: Simplify -1 into -1 10.739 * [taylor]: Taking taylor expansion of phi1 in delta 10.739 * [backup-simplify]: Simplify phi1 into phi1 10.739 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.740 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.740 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.740 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.740 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.740 * [taylor]: Taking taylor expansion of -1 in delta 10.740 * [backup-simplify]: Simplify -1 into -1 10.740 * [taylor]: Taking taylor expansion of delta in delta 10.740 * [backup-simplify]: Simplify 0 into 0 10.740 * [backup-simplify]: Simplify 1 into 1 10.740 * [backup-simplify]: Simplify (/ -1 1) into -1 10.740 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.740 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 10.741 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 10.741 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 10.741 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 10.741 * [taylor]: Taking taylor expansion of 1 in delta 10.741 * [backup-simplify]: Simplify 1 into 1 10.741 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.741 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.741 * [taylor]: Taking taylor expansion of -1 in delta 10.741 * [backup-simplify]: Simplify -1 into -1 10.741 * [taylor]: Taking taylor expansion of delta in delta 10.741 * [backup-simplify]: Simplify 0 into 0 10.741 * [backup-simplify]: Simplify 1 into 1 10.741 * [backup-simplify]: Simplify (/ -1 1) into -1 10.741 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.741 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 10.742 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.742 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.742 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.742 * [taylor]: Taking taylor expansion of -1 in delta 10.742 * [backup-simplify]: Simplify -1 into -1 10.742 * [taylor]: Taking taylor expansion of phi1 in delta 10.742 * [backup-simplify]: Simplify phi1 into phi1 10.742 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.742 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.742 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.742 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.742 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.742 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.742 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.742 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.742 * [taylor]: Taking taylor expansion of -1 in delta 10.742 * [backup-simplify]: Simplify -1 into -1 10.742 * [taylor]: Taking taylor expansion of delta in delta 10.742 * [backup-simplify]: Simplify 0 into 0 10.742 * [backup-simplify]: Simplify 1 into 1 10.743 * [backup-simplify]: Simplify (/ -1 1) into -1 10.743 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.743 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.743 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.743 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.743 * [taylor]: Taking taylor expansion of -1 in delta 10.743 * [backup-simplify]: Simplify -1 into -1 10.743 * [taylor]: Taking taylor expansion of phi1 in delta 10.743 * [backup-simplify]: Simplify phi1 into phi1 10.743 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.743 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.743 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.743 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.743 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.743 * [taylor]: Taking taylor expansion of -1 in delta 10.743 * [backup-simplify]: Simplify -1 into -1 10.743 * [taylor]: Taking taylor expansion of theta in delta 10.743 * [backup-simplify]: Simplify theta into theta 10.743 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.743 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.743 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.743 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.744 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.744 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.744 * [taylor]: Taking taylor expansion of -1 in delta 10.744 * [backup-simplify]: Simplify -1 into -1 10.744 * [taylor]: Taking taylor expansion of phi1 in delta 10.744 * [backup-simplify]: Simplify phi1 into phi1 10.744 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.744 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.744 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.744 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.744 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.744 * [taylor]: Taking taylor expansion of -1 in delta 10.744 * [backup-simplify]: Simplify -1 into -1 10.744 * [taylor]: Taking taylor expansion of delta in delta 10.744 * [backup-simplify]: Simplify 0 into 0 10.744 * [backup-simplify]: Simplify 1 into 1 10.745 * [backup-simplify]: Simplify (/ -1 1) into -1 10.745 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.745 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 10.745 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 10.745 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.745 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in delta 10.745 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.745 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.745 * [taylor]: Taking taylor expansion of -1 in delta 10.745 * [backup-simplify]: Simplify -1 into -1 10.745 * [taylor]: Taking taylor expansion of phi1 in delta 10.745 * [backup-simplify]: Simplify phi1 into phi1 10.745 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.745 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.745 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.745 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.745 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.745 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.745 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.745 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.745 * [taylor]: Taking taylor expansion of -1 in delta 10.745 * [backup-simplify]: Simplify -1 into -1 10.745 * [taylor]: Taking taylor expansion of delta in delta 10.745 * [backup-simplify]: Simplify 0 into 0 10.745 * [backup-simplify]: Simplify 1 into 1 10.746 * [backup-simplify]: Simplify (/ -1 1) into -1 10.746 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.746 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.746 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.746 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.746 * [taylor]: Taking taylor expansion of -1 in delta 10.746 * [backup-simplify]: Simplify -1 into -1 10.746 * [taylor]: Taking taylor expansion of phi1 in delta 10.746 * [backup-simplify]: Simplify phi1 into phi1 10.746 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.746 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.746 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.746 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.747 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.747 * [taylor]: Taking taylor expansion of -1 in delta 10.747 * [backup-simplify]: Simplify -1 into -1 10.747 * [taylor]: Taking taylor expansion of theta in delta 10.747 * [backup-simplify]: Simplify theta into theta 10.747 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.747 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.747 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.747 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.747 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.747 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.747 * [taylor]: Taking taylor expansion of -1 in delta 10.747 * [backup-simplify]: Simplify -1 into -1 10.747 * [taylor]: Taking taylor expansion of phi1 in delta 10.747 * [backup-simplify]: Simplify phi1 into phi1 10.747 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.747 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.747 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.747 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.747 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.747 * [taylor]: Taking taylor expansion of -1 in delta 10.747 * [backup-simplify]: Simplify -1 into -1 10.747 * [taylor]: Taking taylor expansion of delta in delta 10.747 * [backup-simplify]: Simplify 0 into 0 10.747 * [backup-simplify]: Simplify 1 into 1 10.748 * [backup-simplify]: Simplify (/ -1 1) into -1 10.748 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.748 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 10.748 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.748 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.748 * [taylor]: Taking taylor expansion of -1 in delta 10.748 * [backup-simplify]: Simplify -1 into -1 10.748 * [taylor]: Taking taylor expansion of phi1 in delta 10.748 * [backup-simplify]: Simplify phi1 into phi1 10.748 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.748 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.748 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.748 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 10.749 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 10.749 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 10.749 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 10.749 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.749 * [taylor]: Taking taylor expansion of -1 in delta 10.749 * [backup-simplify]: Simplify -1 into -1 10.749 * [taylor]: Taking taylor expansion of delta in delta 10.749 * [backup-simplify]: Simplify 0 into 0 10.749 * [backup-simplify]: Simplify 1 into 1 10.749 * [backup-simplify]: Simplify (/ -1 1) into -1 10.749 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.749 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 10.749 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 10.749 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.749 * [taylor]: Taking taylor expansion of -1 in delta 10.749 * [backup-simplify]: Simplify -1 into -1 10.749 * [taylor]: Taking taylor expansion of phi1 in delta 10.749 * [backup-simplify]: Simplify phi1 into phi1 10.750 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.750 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.750 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.750 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 10.750 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 10.750 * [taylor]: Taking taylor expansion of -1 in delta 10.750 * [backup-simplify]: Simplify -1 into -1 10.750 * [taylor]: Taking taylor expansion of theta in delta 10.750 * [backup-simplify]: Simplify theta into theta 10.750 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.750 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.750 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.750 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 10.750 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 10.750 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 10.750 * [taylor]: Taking taylor expansion of -1 in delta 10.750 * [backup-simplify]: Simplify -1 into -1 10.750 * [taylor]: Taking taylor expansion of phi1 in delta 10.750 * [backup-simplify]: Simplify phi1 into phi1 10.750 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.750 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.750 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.750 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 10.750 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 10.750 * [taylor]: Taking taylor expansion of -1 in delta 10.750 * [backup-simplify]: Simplify -1 into -1 10.750 * [taylor]: Taking taylor expansion of delta in delta 10.751 * [backup-simplify]: Simplify 0 into 0 10.751 * [backup-simplify]: Simplify 1 into 1 10.751 * [backup-simplify]: Simplify (/ -1 1) into -1 10.751 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.751 * [backup-simplify]: Simplify (* 1 (cos (/ -1 delta))) into (cos (/ -1 delta)) 10.751 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.751 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.752 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.752 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.752 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.752 * [backup-simplify]: Simplify (- 0) into 0 10.752 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.752 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.752 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.753 * [backup-simplify]: Simplify (- 0) into 0 10.753 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.753 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.753 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.753 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.754 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.754 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.754 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 10.754 * [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))))) 10.755 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 10.756 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.756 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.757 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.757 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.757 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.757 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 10.757 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.757 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.758 * [backup-simplify]: Simplify (- 0) into 0 10.758 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.758 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.758 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.759 * [backup-simplify]: Simplify (- 0) into 0 10.759 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.759 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.759 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.759 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.759 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.759 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.759 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 10.760 * [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))))) 10.760 * [backup-simplify]: Simplify (* (- (sin (/ -1 phi1))) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) 10.760 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.760 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.760 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.760 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.760 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.761 * [backup-simplify]: Simplify (- 0) into 0 10.761 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.761 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.761 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.762 * [backup-simplify]: Simplify (- 0) into 0 10.762 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.762 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.762 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.762 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.762 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.762 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.762 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 10.763 * [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))))) 10.763 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 10.764 * [backup-simplify]: Simplify (+ (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 10.765 * [backup-simplify]: Simplify (+ (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.765 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 10.765 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.765 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.765 * [taylor]: Taking taylor expansion of -1 in phi1 10.765 * [backup-simplify]: Simplify -1 into -1 10.765 * [taylor]: Taking taylor expansion of delta in phi1 10.765 * [backup-simplify]: Simplify delta into delta 10.765 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.765 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.766 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.766 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 10.766 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 10.766 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 10.766 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.766 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.766 * [taylor]: Taking taylor expansion of -1 in phi1 10.766 * [backup-simplify]: Simplify -1 into -1 10.766 * [taylor]: Taking taylor expansion of phi1 in phi1 10.766 * [backup-simplify]: Simplify 0 into 0 10.766 * [backup-simplify]: Simplify 1 into 1 10.766 * [backup-simplify]: Simplify (/ -1 1) into -1 10.766 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.766 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 10.767 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.767 * [taylor]: Taking taylor expansion of -1 in phi1 10.767 * [backup-simplify]: Simplify -1 into -1 10.767 * [taylor]: Taking taylor expansion of delta in phi1 10.767 * [backup-simplify]: Simplify delta into delta 10.767 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.767 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.767 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.767 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 10.767 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 10.767 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.767 * [taylor]: Taking taylor expansion of -1 in phi1 10.767 * [backup-simplify]: Simplify -1 into -1 10.767 * [taylor]: Taking taylor expansion of phi1 in phi1 10.767 * [backup-simplify]: Simplify 0 into 0 10.767 * [backup-simplify]: Simplify 1 into 1 10.767 * [backup-simplify]: Simplify (/ -1 1) into -1 10.767 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.768 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 10.768 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 10.768 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 10.768 * [taylor]: Taking taylor expansion of -1 in phi1 10.768 * [backup-simplify]: Simplify -1 into -1 10.768 * [taylor]: Taking taylor expansion of delta in phi1 10.768 * [backup-simplify]: Simplify delta into delta 10.768 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.768 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.768 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.768 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 10.768 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 10.768 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 10.768 * [taylor]: Taking taylor expansion of -1 in phi1 10.768 * [backup-simplify]: Simplify -1 into -1 10.768 * [taylor]: Taking taylor expansion of theta in phi1 10.768 * [backup-simplify]: Simplify theta into theta 10.768 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 10.768 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.768 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 10.768 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 10.768 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.768 * [taylor]: Taking taylor expansion of -1 in phi1 10.768 * [backup-simplify]: Simplify -1 into -1 10.768 * [taylor]: Taking taylor expansion of phi1 in phi1 10.768 * [backup-simplify]: Simplify 0 into 0 10.768 * [backup-simplify]: Simplify 1 into 1 10.769 * [backup-simplify]: Simplify (/ -1 1) into -1 10.769 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.769 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 10.769 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 10.769 * [backup-simplify]: Simplify (- 0) into 0 10.770 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 10.770 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 10.770 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 10.770 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 10.770 * [backup-simplify]: Simplify (- 0) into 0 10.770 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 10.770 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 10.771 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 10.771 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 10.771 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 10.771 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 10.771 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 10.771 * [backup-simplify]: Simplify (- 0) into 0 10.771 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 10.771 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.772 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.772 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 10.772 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 10.773 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.774 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.774 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 10.774 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.774 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.774 * [taylor]: Taking taylor expansion of -1 in theta 10.774 * [backup-simplify]: Simplify -1 into -1 10.774 * [taylor]: Taking taylor expansion of delta in theta 10.774 * [backup-simplify]: Simplify delta into delta 10.774 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.774 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.774 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.774 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 10.774 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 10.774 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 10.774 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.774 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.774 * [taylor]: Taking taylor expansion of -1 in theta 10.774 * [backup-simplify]: Simplify -1 into -1 10.774 * [taylor]: Taking taylor expansion of phi1 in theta 10.774 * [backup-simplify]: Simplify phi1 into phi1 10.774 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.774 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.774 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.775 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.775 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.775 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.775 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 10.775 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.775 * [taylor]: Taking taylor expansion of -1 in theta 10.775 * [backup-simplify]: Simplify -1 into -1 10.775 * [taylor]: Taking taylor expansion of delta in theta 10.775 * [backup-simplify]: Simplify delta into delta 10.775 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.775 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.775 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.775 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 10.775 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 10.775 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.775 * [taylor]: Taking taylor expansion of -1 in theta 10.775 * [backup-simplify]: Simplify -1 into -1 10.775 * [taylor]: Taking taylor expansion of phi1 in theta 10.775 * [backup-simplify]: Simplify phi1 into phi1 10.775 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.775 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.775 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.775 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 10.775 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 10.775 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 10.775 * [taylor]: Taking taylor expansion of -1 in theta 10.775 * [backup-simplify]: Simplify -1 into -1 10.776 * [taylor]: Taking taylor expansion of delta in theta 10.776 * [backup-simplify]: Simplify delta into delta 10.776 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 10.776 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 10.776 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 10.776 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 10.776 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 10.776 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 10.776 * [taylor]: Taking taylor expansion of -1 in theta 10.776 * [backup-simplify]: Simplify -1 into -1 10.776 * [taylor]: Taking taylor expansion of theta in theta 10.776 * [backup-simplify]: Simplify 0 into 0 10.776 * [backup-simplify]: Simplify 1 into 1 10.777 * [backup-simplify]: Simplify (/ -1 1) into -1 10.777 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 10.777 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 10.777 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 10.777 * [taylor]: Taking taylor expansion of -1 in theta 10.777 * [backup-simplify]: Simplify -1 into -1 10.777 * [taylor]: Taking taylor expansion of phi1 in theta 10.777 * [backup-simplify]: Simplify phi1 into phi1 10.777 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 10.777 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 10.777 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 10.777 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 10.777 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 10.778 * [backup-simplify]: Simplify (- 0) into 0 10.778 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 10.778 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 10.778 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 10.778 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 10.778 * [backup-simplify]: Simplify (- 0) into 0 10.778 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 10.779 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 10.779 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 10.779 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 10.779 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 10.779 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 10.779 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 10.779 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 10.779 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 10.779 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 10.780 * [backup-simplify]: Simplify (- 0) into 0 10.780 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 10.780 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 10.780 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 10.780 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 10.781 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 10.782 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.782 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.783 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 10.784 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ -1 delta)))) into 0 10.784 * [backup-simplify]: Simplify (+ 0) into 0 10.785 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.785 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.787 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.787 * [backup-simplify]: Simplify (- 0) into 0 10.788 * [backup-simplify]: Simplify (+ 0 0) into 0 10.788 * [backup-simplify]: Simplify (+ 0) into 0 10.789 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.790 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.791 * [backup-simplify]: Simplify (- 0) into 0 10.791 * [backup-simplify]: Simplify (+ 0 0) into 0 10.791 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 10.791 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.792 * [backup-simplify]: Simplify (+ 0) into 0 10.792 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.794 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.794 * [backup-simplify]: Simplify (+ 0 0) into 0 10.794 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 10.795 * [backup-simplify]: Simplify (+ 0 0) into 0 10.795 * [backup-simplify]: Simplify (+ 0) into 0 10.796 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.797 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.798 * [backup-simplify]: Simplify (+ 0 0) into 0 10.798 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 10.798 * [backup-simplify]: Simplify (- 0) into 0 10.799 * [backup-simplify]: Simplify (+ 0 0) into 0 10.799 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 10.799 * [backup-simplify]: Simplify (+ 0) into 0 10.800 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.800 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.801 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.802 * [backup-simplify]: Simplify (- 0) into 0 10.802 * [backup-simplify]: Simplify (+ 0 0) into 0 10.802 * [backup-simplify]: Simplify (+ 0) into 0 10.803 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.803 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.805 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.806 * [backup-simplify]: Simplify (- 0) into 0 10.806 * [backup-simplify]: Simplify (+ 0 0) into 0 10.806 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 10.806 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.807 * [backup-simplify]: Simplify (+ 0) into 0 10.807 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.808 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.809 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.809 * [backup-simplify]: Simplify (+ 0 0) into 0 10.810 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 10.810 * [backup-simplify]: Simplify (+ 0 0) into 0 10.810 * [backup-simplify]: Simplify (+ 0) into 0 10.811 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.812 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.813 * [backup-simplify]: Simplify (+ 0 0) into 0 10.813 * [backup-simplify]: Simplify (- 0) into 0 10.813 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 10.814 * [backup-simplify]: Simplify (+ 0) into 0 10.814 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.814 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.816 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.816 * [backup-simplify]: Simplify (- 0) into 0 10.816 * [backup-simplify]: Simplify (+ 0 0) into 0 10.817 * [backup-simplify]: Simplify (+ 0) into 0 10.817 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.818 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.819 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.819 * [backup-simplify]: Simplify (- 0) into 0 10.820 * [backup-simplify]: Simplify (+ 0 0) into 0 10.820 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 10.820 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.820 * [backup-simplify]: Simplify (+ 0) into 0 10.821 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.821 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.822 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.823 * [backup-simplify]: Simplify (+ 0 0) into 0 10.823 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 10.823 * [backup-simplify]: Simplify (+ 0 0) into 0 10.823 * [backup-simplify]: Simplify (+ 0) into 0 10.824 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.825 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.826 * [backup-simplify]: Simplify (+ 0 0) into 0 10.826 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 10.827 * [backup-simplify]: Simplify (+ 0 0) into 0 10.827 * [backup-simplify]: Simplify (+ 0 0) into 0 10.827 * [taylor]: Taking taylor expansion of 0 in phi1 10.827 * [backup-simplify]: Simplify 0 into 0 10.827 * [taylor]: Taking taylor expansion of 0 in theta 10.827 * [backup-simplify]: Simplify 0 into 0 10.827 * [backup-simplify]: Simplify 0 into 0 10.827 * [backup-simplify]: Simplify (+ 0) into 0 10.828 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 10.828 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.829 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 10.830 * [backup-simplify]: Simplify (- 0) into 0 10.830 * [backup-simplify]: Simplify (+ 0 0) into 0 10.831 * [backup-simplify]: Simplify (+ 0) into 0 10.831 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 10.831 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.832 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 10.833 * [backup-simplify]: Simplify (- 0) into 0 10.833 * [backup-simplify]: Simplify (+ 0 0) into 0 10.833 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 10.834 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 10.834 * [backup-simplify]: Simplify (+ 0) into 0 10.834 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 10.835 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 10.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.836 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 10.836 * [backup-simplify]: Simplify (- 0) into 0 10.837 * [backup-simplify]: Simplify (+ 0 0) into 0 10.837 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 10.837 * [backup-simplify]: Simplify (+ 0) into 0 10.838 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 10.838 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.839 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 10.840 * [backup-simplify]: Simplify (+ 0 0) into 0 10.840 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.840 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 10.840 * [backup-simplify]: Simplify (+ 0 0) into 0 10.841 * [backup-simplify]: Simplify (- 0) into 0 10.841 * [backup-simplify]: Simplify (+ 0 0) into 0 10.841 * [taylor]: Taking taylor expansion of 0 in theta 10.841 * [backup-simplify]: Simplify 0 into 0 10.841 * [backup-simplify]: Simplify 0 into 0 10.842 * [backup-simplify]: Simplify (+ 0) into 0 10.842 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 10.842 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.843 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.844 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 10.844 * [backup-simplify]: Simplify (- 0) into 0 10.844 * [backup-simplify]: Simplify (+ 0 0) into 0 10.845 * [backup-simplify]: Simplify (+ 0) into 0 10.845 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 10.845 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.847 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 10.847 * [backup-simplify]: Simplify (- 0) into 0 10.848 * [backup-simplify]: Simplify (+ 0 0) into 0 10.848 * [backup-simplify]: Simplify (+ 0) into 0 10.849 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.850 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.850 * [backup-simplify]: Simplify (+ 0 0) into 0 10.851 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 10.851 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 10.851 * [backup-simplify]: Simplify (+ 0) into 0 10.852 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 10.852 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.853 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 10.853 * [backup-simplify]: Simplify (- 0) into 0 10.854 * [backup-simplify]: Simplify (+ 0 0) into 0 10.854 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 10.854 * [backup-simplify]: Simplify (+ 0) into 0 10.855 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 10.855 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 10.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.856 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 10.857 * [backup-simplify]: Simplify (+ 0 0) into 0 10.857 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 10.857 * [backup-simplify]: Simplify (+ 0) into 0 10.858 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 10.858 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 10.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.859 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 10.860 * [backup-simplify]: Simplify (+ 0 0) into 0 10.860 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 10.860 * [backup-simplify]: Simplify (+ 0 0) into 0 10.861 * [backup-simplify]: Simplify (- 0) into 0 10.861 * [backup-simplify]: Simplify (+ 0 0) into 0 10.861 * [backup-simplify]: Simplify 0 into 0 10.862 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 10.863 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.864 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.864 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.865 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.865 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.865 * [backup-simplify]: Simplify (- 0) into 0 10.866 * [backup-simplify]: Simplify (+ 0 0) into 0 10.867 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.867 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.869 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.870 * [backup-simplify]: Simplify (- 0) into 0 10.870 * [backup-simplify]: Simplify (+ 0 0) into 0 10.871 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 10.871 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 10.872 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.873 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.873 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.874 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.875 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.875 * [backup-simplify]: Simplify (+ 0 0) into 0 10.876 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 10.876 * [backup-simplify]: Simplify (+ 0 0) into 0 10.877 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.878 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.879 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.879 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.880 * [backup-simplify]: Simplify (+ 0 0) into 0 10.881 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 10.881 * [backup-simplify]: Simplify (- 0) into 0 10.882 * [backup-simplify]: Simplify (+ 0 0) into 0 10.882 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 10.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.888 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.888 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.889 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.890 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.890 * [backup-simplify]: Simplify (- 0) into 0 10.891 * [backup-simplify]: Simplify (+ 0 0) into 0 10.891 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.892 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.893 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.894 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.894 * [backup-simplify]: Simplify (- 0) into 0 10.895 * [backup-simplify]: Simplify (+ 0 0) into 0 10.895 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 10.896 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 10.897 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.898 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.898 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.899 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.900 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.900 * [backup-simplify]: Simplify (+ 0 0) into 0 10.900 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 10.901 * [backup-simplify]: Simplify (+ 0 0) into 0 10.901 * [backup-simplify]: Simplify (- 0) into 0 10.902 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.903 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.903 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.904 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.905 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.905 * [backup-simplify]: Simplify (+ 0 0) into 0 10.905 * [backup-simplify]: Simplify (- 0) into 0 10.906 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 10.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.908 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.908 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.909 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.910 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.910 * [backup-simplify]: Simplify (- 0) into 0 10.910 * [backup-simplify]: Simplify (+ 0 0) into 0 10.911 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.912 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.913 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.914 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.914 * [backup-simplify]: Simplify (- 0) into 0 10.914 * [backup-simplify]: Simplify (+ 0 0) into 0 10.915 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 10.916 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 10.916 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.917 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.918 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.919 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.919 * [backup-simplify]: Simplify (+ 0 0) into 0 10.920 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 10.920 * [backup-simplify]: Simplify (+ 0 0) into 0 10.921 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.922 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 10.922 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.923 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.924 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 10.924 * [backup-simplify]: Simplify (+ 0 0) into 0 10.925 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 10.925 * [backup-simplify]: Simplify (+ 0 0) into 0 10.925 * [backup-simplify]: Simplify (+ 0 0) into 0 10.925 * [taylor]: Taking taylor expansion of 0 in phi1 10.925 * [backup-simplify]: Simplify 0 into 0 10.925 * [taylor]: Taking taylor expansion of 0 in theta 10.925 * [backup-simplify]: Simplify 0 into 0 10.925 * [backup-simplify]: Simplify 0 into 0 10.925 * [taylor]: Taking taylor expansion of 0 in theta 10.926 * [backup-simplify]: Simplify 0 into 0 10.926 * [backup-simplify]: Simplify 0 into 0 10.926 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.927 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.927 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.927 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.927 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.928 * [backup-simplify]: Simplify (- 0) into 0 10.928 * [backup-simplify]: Simplify (+ 0 0) into 0 10.928 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.929 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.929 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.930 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.930 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.931 * [backup-simplify]: Simplify (- 0) into 0 10.931 * [backup-simplify]: Simplify (+ 0 0) into 0 10.931 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 10.932 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 10.932 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.933 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.933 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 10.934 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.934 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.934 * [backup-simplify]: Simplify (- 0) into 0 10.934 * [backup-simplify]: Simplify (+ 0 0) into 0 10.935 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 10.935 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.936 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 10.936 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 10.936 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.937 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 10.937 * [backup-simplify]: Simplify (+ 0 0) into 0 10.937 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 10.938 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 10.938 * [backup-simplify]: Simplify (+ 0 0) into 0 10.938 * [backup-simplify]: Simplify (- 0) into 0 10.938 * [backup-simplify]: Simplify (+ 0 0) into 0 10.938 * [taylor]: Taking taylor expansion of 0 in theta 10.938 * [backup-simplify]: Simplify 0 into 0 10.938 * [backup-simplify]: Simplify 0 into 0 10.939 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 10.939 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 1 1 1) 10.939 * [backup-simplify]: Simplify (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) into (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.939 * [approximate]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in (delta phi1 theta) around 0 10.939 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in theta 10.939 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.939 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in theta 10.939 * [taylor]: Taking taylor expansion of 1 in theta 10.939 * [backup-simplify]: Simplify 1 into 1 10.939 * [taylor]: Taking taylor expansion of (cos delta) in theta 10.940 * [taylor]: Taking taylor expansion of delta in theta 10.940 * [backup-simplify]: Simplify delta into delta 10.940 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.940 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.940 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 10.940 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 10.940 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.940 * [taylor]: Taking taylor expansion of phi1 in theta 10.940 * [backup-simplify]: Simplify phi1 into phi1 10.940 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.940 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.940 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 10.940 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.940 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 10.940 * [taylor]: Taking taylor expansion of (sin delta) in theta 10.940 * [taylor]: Taking taylor expansion of delta in theta 10.940 * [backup-simplify]: Simplify delta into delta 10.940 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.940 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.940 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 10.940 * [taylor]: Taking taylor expansion of (cos phi1) in theta 10.940 * [taylor]: Taking taylor expansion of phi1 in theta 10.940 * [backup-simplify]: Simplify phi1 into phi1 10.940 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.940 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.940 * [taylor]: Taking taylor expansion of (cos theta) in theta 10.940 * [taylor]: Taking taylor expansion of theta in theta 10.940 * [backup-simplify]: Simplify 0 into 0 10.940 * [backup-simplify]: Simplify 1 into 1 10.940 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 10.940 * [taylor]: Taking taylor expansion of (sin phi1) in theta 10.940 * [taylor]: Taking taylor expansion of phi1 in theta 10.940 * [backup-simplify]: Simplify phi1 into phi1 10.940 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.940 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.940 * [taylor]: Taking taylor expansion of (cos delta) in theta 10.940 * [taylor]: Taking taylor expansion of delta in theta 10.940 * [backup-simplify]: Simplify delta into delta 10.940 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.940 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.940 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in phi1 10.940 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.940 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in phi1 10.940 * [taylor]: Taking taylor expansion of 1 in phi1 10.940 * [backup-simplify]: Simplify 1 into 1 10.940 * [taylor]: Taking taylor expansion of (cos delta) in phi1 10.940 * [taylor]: Taking taylor expansion of delta in phi1 10.940 * [backup-simplify]: Simplify delta into delta 10.940 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.940 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.940 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 10.941 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 10.941 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.941 * [taylor]: Taking taylor expansion of phi1 in phi1 10.941 * [backup-simplify]: Simplify 0 into 0 10.941 * [backup-simplify]: Simplify 1 into 1 10.941 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 10.941 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.941 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 10.941 * [taylor]: Taking taylor expansion of (sin delta) in phi1 10.941 * [taylor]: Taking taylor expansion of delta in phi1 10.941 * [backup-simplify]: Simplify delta into delta 10.941 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.941 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.941 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 10.941 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 10.941 * [taylor]: Taking taylor expansion of phi1 in phi1 10.941 * [backup-simplify]: Simplify 0 into 0 10.941 * [backup-simplify]: Simplify 1 into 1 10.941 * [taylor]: Taking taylor expansion of (cos theta) in phi1 10.941 * [taylor]: Taking taylor expansion of theta in phi1 10.941 * [backup-simplify]: Simplify theta into theta 10.941 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.941 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.941 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 10.941 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.941 * [taylor]: Taking taylor expansion of phi1 in phi1 10.941 * [backup-simplify]: Simplify 0 into 0 10.941 * [backup-simplify]: Simplify 1 into 1 10.941 * [taylor]: Taking taylor expansion of (cos delta) in phi1 10.941 * [taylor]: Taking taylor expansion of delta in phi1 10.941 * [backup-simplify]: Simplify delta into delta 10.941 * [backup-simplify]: Simplify (cos delta) into (cos delta) 10.941 * [backup-simplify]: Simplify (sin delta) into (sin delta) 10.941 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 10.941 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.941 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 10.941 * [taylor]: Taking taylor expansion of 1 in delta 10.941 * [backup-simplify]: Simplify 1 into 1 10.941 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.941 * [taylor]: Taking taylor expansion of delta in delta 10.941 * [backup-simplify]: Simplify 0 into 0 10.941 * [backup-simplify]: Simplify 1 into 1 10.941 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 10.941 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.941 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.941 * [taylor]: Taking taylor expansion of phi1 in delta 10.941 * [backup-simplify]: Simplify phi1 into phi1 10.941 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.941 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.941 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.941 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.941 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.941 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.941 * [taylor]: Taking taylor expansion of delta in delta 10.941 * [backup-simplify]: Simplify 0 into 0 10.941 * [backup-simplify]: Simplify 1 into 1 10.941 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.941 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.942 * [taylor]: Taking taylor expansion of phi1 in delta 10.942 * [backup-simplify]: Simplify phi1 into phi1 10.942 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.942 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.942 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.942 * [taylor]: Taking taylor expansion of theta in delta 10.942 * [backup-simplify]: Simplify theta into theta 10.942 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.942 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.942 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.942 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.942 * [taylor]: Taking taylor expansion of phi1 in delta 10.942 * [backup-simplify]: Simplify phi1 into phi1 10.942 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.942 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.942 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.942 * [taylor]: Taking taylor expansion of delta in delta 10.942 * [backup-simplify]: Simplify 0 into 0 10.942 * [backup-simplify]: Simplify 1 into 1 10.942 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 10.942 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 10.942 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 10.942 * [taylor]: Taking taylor expansion of 1 in delta 10.942 * [backup-simplify]: Simplify 1 into 1 10.942 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.942 * [taylor]: Taking taylor expansion of delta in delta 10.942 * [backup-simplify]: Simplify 0 into 0 10.942 * [backup-simplify]: Simplify 1 into 1 10.942 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 10.942 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 10.942 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.942 * [taylor]: Taking taylor expansion of phi1 in delta 10.942 * [backup-simplify]: Simplify phi1 into phi1 10.942 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.942 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.942 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 10.942 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 10.942 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 10.942 * [taylor]: Taking taylor expansion of (sin delta) in delta 10.942 * [taylor]: Taking taylor expansion of delta in delta 10.942 * [backup-simplify]: Simplify 0 into 0 10.942 * [backup-simplify]: Simplify 1 into 1 10.942 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 10.942 * [taylor]: Taking taylor expansion of (cos phi1) in delta 10.942 * [taylor]: Taking taylor expansion of phi1 in delta 10.942 * [backup-simplify]: Simplify phi1 into phi1 10.942 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.942 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.942 * [taylor]: Taking taylor expansion of (cos theta) in delta 10.942 * [taylor]: Taking taylor expansion of theta in delta 10.942 * [backup-simplify]: Simplify theta into theta 10.942 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.942 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.942 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 10.942 * [taylor]: Taking taylor expansion of (sin phi1) in delta 10.943 * [taylor]: Taking taylor expansion of phi1 in delta 10.943 * [backup-simplify]: Simplify phi1 into phi1 10.943 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 10.943 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 10.943 * [taylor]: Taking taylor expansion of (cos delta) in delta 10.943 * [taylor]: Taking taylor expansion of delta in delta 10.943 * [backup-simplify]: Simplify 0 into 0 10.943 * [backup-simplify]: Simplify 1 into 1 10.943 * [backup-simplify]: Simplify (* 1 1) into 1 10.943 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.943 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.943 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.943 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 10.943 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 10.944 * [backup-simplify]: Simplify (- 0) into 0 10.944 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 10.944 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 10.944 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 10.944 * [backup-simplify]: Simplify (- 0) into 0 10.944 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 10.944 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 10.944 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 10.944 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.944 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 10.944 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 10.944 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 10.944 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 10.944 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 10.944 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 10.944 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 10.944 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 10.945 * [taylor]: Taking taylor expansion of 1 in phi1 10.945 * [backup-simplify]: Simplify 1 into 1 10.945 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 10.945 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.945 * [taylor]: Taking taylor expansion of phi1 in phi1 10.945 * [backup-simplify]: Simplify 0 into 0 10.945 * [backup-simplify]: Simplify 1 into 1 10.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.945 * [backup-simplify]: Simplify (+ 1 0) into 1 10.945 * [taylor]: Taking taylor expansion of 1 in theta 10.945 * [backup-simplify]: Simplify 1 into 1 10.945 * [backup-simplify]: Simplify 1 into 1 10.946 * [backup-simplify]: Simplify (+ 0) into 0 10.946 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.946 * [backup-simplify]: Simplify (+ 0) into 0 10.947 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 10.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.947 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 10.948 * [backup-simplify]: Simplify (- 0) into 0 10.948 * [backup-simplify]: Simplify (+ 0 0) into 0 10.948 * [backup-simplify]: Simplify (+ 0) into 0 10.948 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 10.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.949 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 10.949 * [backup-simplify]: Simplify (- 0) into 0 10.950 * [backup-simplify]: Simplify (+ 0 0) into 0 10.950 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 10.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.950 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 10.951 * [backup-simplify]: Simplify (+ 0) into 0 10.951 * [backup-simplify]: Simplify (+ 0) into 0 10.951 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.952 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.952 * [backup-simplify]: Simplify (+ 0 0) into 0 10.953 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.953 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 10.953 * [backup-simplify]: Simplify (+ 0) into 0 10.954 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 10.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.955 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 10.956 * [backup-simplify]: Simplify (+ 0 0) into 0 10.956 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 10.956 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 10.957 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 10.957 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 10.957 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 10.957 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.957 * [taylor]: Taking taylor expansion of phi1 in phi1 10.957 * [backup-simplify]: Simplify 0 into 0 10.957 * [backup-simplify]: Simplify 1 into 1 10.957 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 10.957 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 10.957 * [taylor]: Taking taylor expansion of phi1 in phi1 10.957 * [backup-simplify]: Simplify 0 into 0 10.957 * [backup-simplify]: Simplify 1 into 1 10.957 * [taylor]: Taking taylor expansion of (cos theta) in phi1 10.957 * [taylor]: Taking taylor expansion of theta in phi1 10.957 * [backup-simplify]: Simplify theta into theta 10.957 * [backup-simplify]: Simplify (cos theta) into (cos theta) 10.957 * [backup-simplify]: Simplify (sin theta) into (sin theta) 10.957 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 10.957 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 10.958 * [backup-simplify]: Simplify (- 0) into 0 10.958 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 10.958 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 10.958 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 10.959 * [backup-simplify]: Simplify (- 0) into 0 10.959 * [taylor]: Taking taylor expansion of 0 in theta 10.959 * [backup-simplify]: Simplify 0 into 0 10.959 * [backup-simplify]: Simplify 0 into 0 10.959 * [backup-simplify]: Simplify (+ 0 0) into 0 10.959 * [taylor]: Taking taylor expansion of 0 in theta 10.959 * [backup-simplify]: Simplify 0 into 0 10.959 * [backup-simplify]: Simplify 0 into 0 10.959 * [backup-simplify]: Simplify 0 into 0 10.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.962 * [backup-simplify]: Simplify (+ (* 1 -1/2) (+ (* 0 0) (* 0 1))) into -1/2 10.962 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.963 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 10.964 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.964 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 10.965 * [backup-simplify]: Simplify (- 0) into 0 10.965 * [backup-simplify]: Simplify (+ 0 0) into 0 10.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.966 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.967 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.968 * [backup-simplify]: Simplify (- 0) into 0 10.968 * [backup-simplify]: Simplify (+ 0 0) into 0 10.969 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 10.969 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.970 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 10.971 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 10.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.972 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.973 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.974 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.974 * [backup-simplify]: Simplify (+ 0 0) into 0 10.975 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 10.975 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 10.976 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.977 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 10.978 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.978 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 10.979 * [backup-simplify]: Simplify (+ 0 0) into 0 10.979 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 10.979 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 10.979 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 10.979 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 10.979 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 10.979 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.980 * [backup-simplify]: Simplify 1/2 into 1/2 10.980 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 10.980 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 10.980 * [taylor]: Taking taylor expansion of phi1 in phi1 10.980 * [backup-simplify]: Simplify 0 into 0 10.980 * [backup-simplify]: Simplify 1 into 1 10.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.980 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.980 * [backup-simplify]: Simplify 1/2 into 1/2 10.981 * [backup-simplify]: Simplify (- 1/2) into -1/2 10.981 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 10.981 * [taylor]: Taking taylor expansion of -1/2 in theta 10.981 * [backup-simplify]: Simplify -1/2 into -1/2 10.981 * [backup-simplify]: Simplify -1/2 into -1/2 10.982 * [backup-simplify]: Simplify (+ 0) into 0 10.982 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 10.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.984 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 10.984 * [backup-simplify]: Simplify (- 0) into 0 10.984 * [backup-simplify]: Simplify (+ 0 0) into 0 10.985 * [backup-simplify]: Simplify (+ 0) into 0 10.985 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 10.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 10.986 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 10.987 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 10.987 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 10.987 * [taylor]: Taking taylor expansion of (cos theta) in theta 10.987 * [taylor]: Taking taylor expansion of theta in theta 10.987 * [backup-simplify]: Simplify 0 into 0 10.987 * [backup-simplify]: Simplify 1 into 1 10.987 * [backup-simplify]: Simplify (- 1) into -1 10.987 * [backup-simplify]: Simplify -1 into -1 10.987 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 10.988 * [backup-simplify]: Simplify (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))) into (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.988 * [approximate]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in (delta phi1 theta) around 0 10.988 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in theta 10.988 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.988 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in theta 10.988 * [taylor]: Taking taylor expansion of 1 in theta 10.988 * [backup-simplify]: Simplify 1 into 1 10.988 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.988 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.988 * [taylor]: Taking taylor expansion of delta in theta 10.988 * [backup-simplify]: Simplify delta into delta 10.988 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.989 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.989 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.989 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in theta 10.989 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 10.989 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.989 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.989 * [taylor]: Taking taylor expansion of phi1 in theta 10.989 * [backup-simplify]: Simplify phi1 into phi1 10.989 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.989 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.989 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.989 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 10.989 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.989 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 10.989 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 10.989 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.989 * [taylor]: Taking taylor expansion of delta in theta 10.989 * [backup-simplify]: Simplify delta into delta 10.989 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.989 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.989 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.989 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 10.990 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 10.990 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 10.990 * [taylor]: Taking taylor expansion of theta in theta 10.990 * [backup-simplify]: Simplify 0 into 0 10.990 * [backup-simplify]: Simplify 1 into 1 10.990 * [backup-simplify]: Simplify (/ 1 1) into 1 10.990 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.990 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 10.990 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.990 * [taylor]: Taking taylor expansion of phi1 in theta 10.990 * [backup-simplify]: Simplify phi1 into phi1 10.990 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.990 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.991 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.991 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 10.991 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 10.991 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 10.991 * [taylor]: Taking taylor expansion of delta in theta 10.991 * [backup-simplify]: Simplify delta into delta 10.991 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.991 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.991 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.991 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 10.991 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 10.991 * [taylor]: Taking taylor expansion of phi1 in theta 10.991 * [backup-simplify]: Simplify phi1 into phi1 10.991 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.991 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.991 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.991 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in phi1 10.991 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.991 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in phi1 10.991 * [taylor]: Taking taylor expansion of 1 in phi1 10.991 * [backup-simplify]: Simplify 1 into 1 10.991 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.991 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.991 * [taylor]: Taking taylor expansion of delta in phi1 10.991 * [backup-simplify]: Simplify delta into delta 10.991 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.992 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.992 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.992 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in phi1 10.992 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 10.992 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.992 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.992 * [taylor]: Taking taylor expansion of phi1 in phi1 10.992 * [backup-simplify]: Simplify 0 into 0 10.992 * [backup-simplify]: Simplify 1 into 1 10.992 * [backup-simplify]: Simplify (/ 1 1) into 1 10.992 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.992 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 10.992 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.992 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 10.992 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 10.992 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.992 * [taylor]: Taking taylor expansion of delta in phi1 10.993 * [backup-simplify]: Simplify delta into delta 10.993 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.993 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.993 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.993 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 10.993 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 10.993 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 10.993 * [taylor]: Taking taylor expansion of theta in phi1 10.993 * [backup-simplify]: Simplify theta into theta 10.993 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.993 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.993 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.993 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 10.993 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.993 * [taylor]: Taking taylor expansion of phi1 in phi1 10.993 * [backup-simplify]: Simplify 0 into 0 10.993 * [backup-simplify]: Simplify 1 into 1 10.993 * [backup-simplify]: Simplify (/ 1 1) into 1 10.994 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.994 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 10.994 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 10.994 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 10.994 * [taylor]: Taking taylor expansion of delta in phi1 10.994 * [backup-simplify]: Simplify delta into delta 10.994 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 10.994 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.994 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.994 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 10.994 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.994 * [taylor]: Taking taylor expansion of phi1 in phi1 10.994 * [backup-simplify]: Simplify 0 into 0 10.994 * [backup-simplify]: Simplify 1 into 1 10.994 * [backup-simplify]: Simplify (/ 1 1) into 1 10.994 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.994 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 10.995 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.995 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 10.995 * [taylor]: Taking taylor expansion of 1 in delta 10.995 * [backup-simplify]: Simplify 1 into 1 10.995 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.995 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.995 * [taylor]: Taking taylor expansion of delta in delta 10.995 * [backup-simplify]: Simplify 0 into 0 10.995 * [backup-simplify]: Simplify 1 into 1 10.995 * [backup-simplify]: Simplify (/ 1 1) into 1 10.995 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.995 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 10.995 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 10.995 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.995 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.995 * [taylor]: Taking taylor expansion of phi1 in delta 10.995 * [backup-simplify]: Simplify phi1 into phi1 10.996 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.996 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.996 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.996 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 10.996 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 10.996 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 10.996 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 10.996 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.996 * [taylor]: Taking taylor expansion of delta in delta 10.996 * [backup-simplify]: Simplify 0 into 0 10.996 * [backup-simplify]: Simplify 1 into 1 10.997 * [backup-simplify]: Simplify (/ 1 1) into 1 10.997 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 10.997 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 10.997 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 10.997 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 10.997 * [taylor]: Taking taylor expansion of theta in delta 10.997 * [backup-simplify]: Simplify theta into theta 10.997 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 10.997 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 10.997 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 10.997 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 10.997 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.997 * [taylor]: Taking taylor expansion of phi1 in delta 10.997 * [backup-simplify]: Simplify phi1 into phi1 10.997 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.997 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.997 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.997 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 10.997 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.997 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.998 * [taylor]: Taking taylor expansion of delta in delta 10.998 * [backup-simplify]: Simplify 0 into 0 10.998 * [backup-simplify]: Simplify 1 into 1 10.998 * [backup-simplify]: Simplify (/ 1 1) into 1 10.998 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.998 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.998 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.998 * [taylor]: Taking taylor expansion of phi1 in delta 10.998 * [backup-simplify]: Simplify phi1 into phi1 10.998 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.998 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 10.998 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 10.998 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 10.999 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 10.999 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 10.999 * [taylor]: Taking taylor expansion of 1 in delta 10.999 * [backup-simplify]: Simplify 1 into 1 10.999 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 10.999 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 10.999 * [taylor]: Taking taylor expansion of delta in delta 10.999 * [backup-simplify]: Simplify 0 into 0 10.999 * [backup-simplify]: Simplify 1 into 1 10.999 * [backup-simplify]: Simplify (/ 1 1) into 1 10.999 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 10.999 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 10.999 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 10.999 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 10.999 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 10.999 * [taylor]: Taking taylor expansion of phi1 in delta 10.999 * [backup-simplify]: Simplify phi1 into phi1 11.000 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.000 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.000 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.000 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 11.000 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 11.000 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 11.000 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 11.000 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 11.000 * [taylor]: Taking taylor expansion of delta in delta 11.000 * [backup-simplify]: Simplify 0 into 0 11.000 * [backup-simplify]: Simplify 1 into 1 11.000 * [backup-simplify]: Simplify (/ 1 1) into 1 11.000 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.000 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 11.001 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 11.001 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 11.001 * [taylor]: Taking taylor expansion of theta in delta 11.001 * [backup-simplify]: Simplify theta into theta 11.001 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 11.001 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.001 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 11.001 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 11.001 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.001 * [taylor]: Taking taylor expansion of phi1 in delta 11.001 * [backup-simplify]: Simplify phi1 into phi1 11.001 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.001 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.001 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.001 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 11.001 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 11.001 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 11.001 * [taylor]: Taking taylor expansion of delta in delta 11.001 * [backup-simplify]: Simplify 0 into 0 11.001 * [backup-simplify]: Simplify 1 into 1 11.002 * [backup-simplify]: Simplify (/ 1 1) into 1 11.002 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.002 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 11.002 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.002 * [taylor]: Taking taylor expansion of phi1 in delta 11.002 * [backup-simplify]: Simplify phi1 into phi1 11.002 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.002 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.002 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.002 * [backup-simplify]: Simplify (* 1 (cos (/ 1 delta))) into (cos (/ 1 delta)) 11.002 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.002 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.003 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.003 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 11.003 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 11.003 * [backup-simplify]: Simplify (- 0) into 0 11.003 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 11.003 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 11.003 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 11.004 * [backup-simplify]: Simplify (- 0) into 0 11.004 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 11.004 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 11.004 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 11.004 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.004 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.005 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.005 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 11.005 * [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))))) 11.005 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 11.006 * [backup-simplify]: Simplify (- (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 11.007 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 11.007 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) in phi1 11.007 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 11.007 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 11.007 * [taylor]: Taking taylor expansion of delta in phi1 11.007 * [backup-simplify]: Simplify delta into delta 11.007 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.007 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.007 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.007 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) in phi1 11.007 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 11.007 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 11.007 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 11.007 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.007 * [taylor]: Taking taylor expansion of phi1 in phi1 11.007 * [backup-simplify]: Simplify 0 into 0 11.007 * [backup-simplify]: Simplify 1 into 1 11.008 * [backup-simplify]: Simplify (/ 1 1) into 1 11.008 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.008 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 11.008 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 11.008 * [taylor]: Taking taylor expansion of delta in phi1 11.008 * [backup-simplify]: Simplify delta into delta 11.008 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.009 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.009 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.009 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 11.009 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 11.009 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.009 * [taylor]: Taking taylor expansion of phi1 in phi1 11.009 * [backup-simplify]: Simplify 0 into 0 11.009 * [backup-simplify]: Simplify 1 into 1 11.009 * [backup-simplify]: Simplify (/ 1 1) into 1 11.009 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.009 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 11.009 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 11.009 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.009 * [taylor]: Taking taylor expansion of phi1 in phi1 11.009 * [backup-simplify]: Simplify 0 into 0 11.010 * [backup-simplify]: Simplify 1 into 1 11.010 * [backup-simplify]: Simplify (/ 1 1) into 1 11.010 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.010 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 11.010 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 11.010 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 11.010 * [taylor]: Taking taylor expansion of theta in phi1 11.010 * [backup-simplify]: Simplify theta into theta 11.010 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 11.010 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.010 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 11.010 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 11.010 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 11.010 * [taylor]: Taking taylor expansion of delta in phi1 11.010 * [backup-simplify]: Simplify delta into delta 11.011 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.011 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.011 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.011 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 11.011 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 11.011 * [backup-simplify]: Simplify (- 0) into 0 11.011 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 11.011 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 11.012 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 11.012 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 11.012 * [backup-simplify]: Simplify (- 0) into 0 11.012 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 11.012 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 11.012 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 11.013 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 11.013 * [backup-simplify]: Simplify (- 0) into 0 11.013 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 11.013 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 11.013 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 11.013 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 11.013 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 11.014 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 11.014 * [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))))) 11.015 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 11.015 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 11.016 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 11.016 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 11.016 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 11.016 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 11.016 * [taylor]: Taking taylor expansion of delta in theta 11.016 * [backup-simplify]: Simplify delta into delta 11.016 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.016 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.016 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.017 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 11.017 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 11.017 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 11.017 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.017 * [taylor]: Taking taylor expansion of phi1 in theta 11.017 * [backup-simplify]: Simplify phi1 into phi1 11.017 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.017 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.017 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.017 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 11.017 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 11.017 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 11.017 * [taylor]: Taking taylor expansion of delta in theta 11.017 * [backup-simplify]: Simplify delta into delta 11.017 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.017 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.017 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.017 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 11.017 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 11.017 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 11.017 * [taylor]: Taking taylor expansion of theta in theta 11.017 * [backup-simplify]: Simplify 0 into 0 11.017 * [backup-simplify]: Simplify 1 into 1 11.018 * [backup-simplify]: Simplify (/ 1 1) into 1 11.018 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.018 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 11.018 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.018 * [taylor]: Taking taylor expansion of phi1 in theta 11.018 * [backup-simplify]: Simplify phi1 into phi1 11.018 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.018 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.018 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.018 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 11.018 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 11.018 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 11.019 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.019 * [taylor]: Taking taylor expansion of phi1 in theta 11.019 * [backup-simplify]: Simplify phi1 into phi1 11.019 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.019 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.019 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.019 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.019 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.019 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.019 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 11.019 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 11.019 * [taylor]: Taking taylor expansion of delta in theta 11.019 * [backup-simplify]: Simplify delta into delta 11.019 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.019 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.019 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.019 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 11.020 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 11.020 * [backup-simplify]: Simplify (- 0) into 0 11.020 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 11.020 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 11.020 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 11.021 * [backup-simplify]: Simplify (- 0) into 0 11.021 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 11.021 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 11.021 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 11.021 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 11.021 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.021 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.021 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.022 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 11.022 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 11.022 * [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))))) 11.022 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 11.022 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 11.022 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 11.023 * [backup-simplify]: Simplify (- 0) into 0 11.023 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 11.023 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 11.024 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 11.024 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 11.025 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 11.026 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (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))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 11.031 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ 1 delta)))) into 0 11.032 * [backup-simplify]: Simplify (+ 0) into 0 11.033 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 11.033 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.034 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 11.034 * [backup-simplify]: Simplify (- 0) into 0 11.035 * [backup-simplify]: Simplify (+ 0 0) into 0 11.035 * [backup-simplify]: Simplify (+ 0) into 0 11.036 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 11.036 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 11.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.037 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 11.037 * [backup-simplify]: Simplify (- 0) into 0 11.038 * [backup-simplify]: Simplify (+ 0 0) into 0 11.038 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 11.038 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 11.039 * [backup-simplify]: Simplify (+ 0) into 0 11.039 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.039 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.041 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.041 * [backup-simplify]: Simplify (+ 0 0) into 0 11.041 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.042 * [backup-simplify]: Simplify (+ 0 0) into 0 11.042 * [backup-simplify]: Simplify (+ 0) into 0 11.042 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.043 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.044 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.044 * [backup-simplify]: Simplify (+ 0 0) into 0 11.045 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 11.045 * [backup-simplify]: Simplify (- 0) into 0 11.045 * [backup-simplify]: Simplify (+ 0 0) into 0 11.045 * [taylor]: Taking taylor expansion of 0 in phi1 11.045 * [backup-simplify]: Simplify 0 into 0 11.046 * [taylor]: Taking taylor expansion of 0 in theta 11.046 * [backup-simplify]: Simplify 0 into 0 11.046 * [backup-simplify]: Simplify 0 into 0 11.046 * [backup-simplify]: Simplify (+ 0) into 0 11.047 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 11.047 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.048 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 11.048 * [backup-simplify]: Simplify (- 0) into 0 11.049 * [backup-simplify]: Simplify (+ 0 0) into 0 11.049 * [backup-simplify]: Simplify (+ 0) into 0 11.050 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 11.050 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.051 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 11.051 * [backup-simplify]: Simplify (- 0) into 0 11.052 * [backup-simplify]: Simplify (+ 0 0) into 0 11.052 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.052 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 11.053 * [backup-simplify]: Simplify (+ 0) into 0 11.053 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 11.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.055 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 11.055 * [backup-simplify]: Simplify (+ 0 0) into 0 11.055 * [backup-simplify]: Simplify (+ 0) into 0 11.056 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 11.056 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 11.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.057 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 11.058 * [backup-simplify]: Simplify (- 0) into 0 11.058 * [backup-simplify]: Simplify (+ 0 0) into 0 11.058 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 11.058 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 11.059 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 11.060 * [backup-simplify]: Simplify (+ 0 0) into 0 11.060 * [backup-simplify]: Simplify (- 0) into 0 11.061 * [backup-simplify]: Simplify (+ 0 0) into 0 11.061 * [taylor]: Taking taylor expansion of 0 in theta 11.061 * [backup-simplify]: Simplify 0 into 0 11.061 * [backup-simplify]: Simplify 0 into 0 11.061 * [backup-simplify]: Simplify (+ 0) into 0 11.062 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 11.062 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.063 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 11.064 * [backup-simplify]: Simplify (- 0) into 0 11.064 * [backup-simplify]: Simplify (+ 0 0) into 0 11.064 * [backup-simplify]: Simplify (+ 0) into 0 11.065 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.065 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.066 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.067 * [backup-simplify]: Simplify (+ 0 0) into 0 11.067 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.067 * [backup-simplify]: Simplify (+ 0) into 0 11.068 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 11.068 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.069 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 11.070 * [backup-simplify]: Simplify (+ 0 0) into 0 11.070 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 11.070 * [backup-simplify]: Simplify (+ 0) into 0 11.071 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 11.071 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.072 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 11.072 * [backup-simplify]: Simplify (- 0) into 0 11.073 * [backup-simplify]: Simplify (+ 0 0) into 0 11.073 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 11.074 * [backup-simplify]: Simplify (+ 0) into 0 11.074 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 11.074 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.076 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 11.076 * [backup-simplify]: Simplify (- 0) into 0 11.076 * [backup-simplify]: Simplify (+ 0 0) into 0 11.077 * [backup-simplify]: Simplify (+ 0) into 0 11.077 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.077 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.079 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.079 * [backup-simplify]: Simplify (+ 0 0) into 0 11.079 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.079 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 11.080 * [backup-simplify]: Simplify (+ 0 0) into 0 11.080 * [backup-simplify]: Simplify (- 0) into 0 11.081 * [backup-simplify]: Simplify (+ 0 0) into 0 11.081 * [backup-simplify]: Simplify 0 into 0 11.081 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 11.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.083 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.083 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.085 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.085 * [backup-simplify]: Simplify (- 0) into 0 11.086 * [backup-simplify]: Simplify (+ 0 0) into 0 11.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.087 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.087 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.088 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.089 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.089 * [backup-simplify]: Simplify (- 0) into 0 11.090 * [backup-simplify]: Simplify (+ 0 0) into 0 11.090 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 11.091 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 11.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.093 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.093 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.094 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.095 * [backup-simplify]: Simplify (+ 0 0) into 0 11.095 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 11.096 * [backup-simplify]: Simplify (+ 0 0) into 0 11.097 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.097 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.098 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.098 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.099 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.099 * [backup-simplify]: Simplify (+ 0 0) into 0 11.100 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 11.100 * [backup-simplify]: Simplify (- 0) into 0 11.101 * [backup-simplify]: Simplify (+ 0 0) into 0 11.101 * [taylor]: Taking taylor expansion of 0 in phi1 11.101 * [backup-simplify]: Simplify 0 into 0 11.101 * [taylor]: Taking taylor expansion of 0 in theta 11.101 * [backup-simplify]: Simplify 0 into 0 11.101 * [backup-simplify]: Simplify 0 into 0 11.101 * [taylor]: Taking taylor expansion of 0 in theta 11.101 * [backup-simplify]: Simplify 0 into 0 11.101 * [backup-simplify]: Simplify 0 into 0 11.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.103 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.103 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.104 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.104 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.105 * [backup-simplify]: Simplify (- 0) into 0 11.105 * [backup-simplify]: Simplify (+ 0 0) into 0 11.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.107 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.107 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.108 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.108 * [backup-simplify]: Simplify (- 0) into 0 11.109 * [backup-simplify]: Simplify (+ 0 0) into 0 11.109 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 11.110 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 11.111 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.112 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.112 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.113 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.114 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.114 * [backup-simplify]: Simplify (+ 0 0) into 0 11.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.116 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.116 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.118 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.118 * [backup-simplify]: Simplify (- 0) into 0 11.119 * [backup-simplify]: Simplify (+ 0 0) into 0 11.119 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 11.120 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 11.121 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 11.121 * [backup-simplify]: Simplify (+ 0 0) into 0 11.121 * [backup-simplify]: Simplify (- 0) into 0 11.121 * [backup-simplify]: Simplify (+ 0 0) into 0 11.121 * [taylor]: Taking taylor expansion of 0 in theta 11.121 * [backup-simplify]: Simplify 0 into 0 11.121 * [backup-simplify]: Simplify 0 into 0 11.122 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2)))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 11.122 * [backup-simplify]: Simplify (fma 1 (cos (/ 1 (- delta))) (- (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))) into (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 11.122 * [approximate]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in (delta phi1 theta) around 0 11.122 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in theta 11.122 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 11.122 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in theta 11.122 * [taylor]: Taking taylor expansion of 1 in theta 11.122 * [backup-simplify]: Simplify 1 into 1 11.122 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 11.122 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.122 * [taylor]: Taking taylor expansion of -1 in theta 11.122 * [backup-simplify]: Simplify -1 into -1 11.122 * [taylor]: Taking taylor expansion of delta in theta 11.122 * [backup-simplify]: Simplify delta into delta 11.122 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.123 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.123 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.123 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 11.123 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 11.123 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.123 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.123 * [taylor]: Taking taylor expansion of -1 in theta 11.123 * [backup-simplify]: Simplify -1 into -1 11.123 * [taylor]: Taking taylor expansion of phi1 in theta 11.123 * [backup-simplify]: Simplify phi1 into phi1 11.123 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.123 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.123 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.123 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 11.123 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.123 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 11.123 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 11.123 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.123 * [taylor]: Taking taylor expansion of -1 in theta 11.123 * [backup-simplify]: Simplify -1 into -1 11.123 * [taylor]: Taking taylor expansion of delta in theta 11.123 * [backup-simplify]: Simplify delta into delta 11.123 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.123 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.123 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.123 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 11.123 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 11.123 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.123 * [taylor]: Taking taylor expansion of -1 in theta 11.123 * [backup-simplify]: Simplify -1 into -1 11.123 * [taylor]: Taking taylor expansion of phi1 in theta 11.123 * [backup-simplify]: Simplify phi1 into phi1 11.123 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.123 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.123 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.123 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 11.123 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 11.123 * [taylor]: Taking taylor expansion of -1 in theta 11.123 * [backup-simplify]: Simplify -1 into -1 11.124 * [taylor]: Taking taylor expansion of theta in theta 11.124 * [backup-simplify]: Simplify 0 into 0 11.124 * [backup-simplify]: Simplify 1 into 1 11.124 * [backup-simplify]: Simplify (/ -1 1) into -1 11.124 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.124 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 11.124 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.124 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.124 * [taylor]: Taking taylor expansion of -1 in theta 11.124 * [backup-simplify]: Simplify -1 into -1 11.124 * [taylor]: Taking taylor expansion of phi1 in theta 11.124 * [backup-simplify]: Simplify phi1 into phi1 11.124 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.124 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.124 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.124 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 11.124 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.124 * [taylor]: Taking taylor expansion of -1 in theta 11.124 * [backup-simplify]: Simplify -1 into -1 11.124 * [taylor]: Taking taylor expansion of delta in theta 11.124 * [backup-simplify]: Simplify delta into delta 11.124 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.124 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.124 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.124 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in phi1 11.124 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 11.125 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in phi1 11.125 * [taylor]: Taking taylor expansion of 1 in phi1 11.125 * [backup-simplify]: Simplify 1 into 1 11.125 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 11.125 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.125 * [taylor]: Taking taylor expansion of -1 in phi1 11.125 * [backup-simplify]: Simplify -1 into -1 11.125 * [taylor]: Taking taylor expansion of delta in phi1 11.125 * [backup-simplify]: Simplify delta into delta 11.125 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.125 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.125 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.125 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 11.125 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 11.125 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.125 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.125 * [taylor]: Taking taylor expansion of -1 in phi1 11.125 * [backup-simplify]: Simplify -1 into -1 11.125 * [taylor]: Taking taylor expansion of phi1 in phi1 11.125 * [backup-simplify]: Simplify 0 into 0 11.125 * [backup-simplify]: Simplify 1 into 1 11.125 * [backup-simplify]: Simplify (/ -1 1) into -1 11.125 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.125 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 11.125 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.125 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 11.125 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 11.125 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.125 * [taylor]: Taking taylor expansion of -1 in phi1 11.125 * [backup-simplify]: Simplify -1 into -1 11.125 * [taylor]: Taking taylor expansion of delta in phi1 11.125 * [backup-simplify]: Simplify delta into delta 11.125 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.126 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.126 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.126 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 11.126 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 11.126 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.126 * [taylor]: Taking taylor expansion of -1 in phi1 11.126 * [backup-simplify]: Simplify -1 into -1 11.126 * [taylor]: Taking taylor expansion of phi1 in phi1 11.126 * [backup-simplify]: Simplify 0 into 0 11.126 * [backup-simplify]: Simplify 1 into 1 11.126 * [backup-simplify]: Simplify (/ -1 1) into -1 11.126 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.126 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 11.126 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 11.126 * [taylor]: Taking taylor expansion of -1 in phi1 11.126 * [backup-simplify]: Simplify -1 into -1 11.126 * [taylor]: Taking taylor expansion of theta in phi1 11.126 * [backup-simplify]: Simplify theta into theta 11.126 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.126 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.126 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.126 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 11.126 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.126 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.126 * [taylor]: Taking taylor expansion of -1 in phi1 11.126 * [backup-simplify]: Simplify -1 into -1 11.126 * [taylor]: Taking taylor expansion of phi1 in phi1 11.126 * [backup-simplify]: Simplify 0 into 0 11.126 * [backup-simplify]: Simplify 1 into 1 11.127 * [backup-simplify]: Simplify (/ -1 1) into -1 11.127 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.127 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 11.127 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.127 * [taylor]: Taking taylor expansion of -1 in phi1 11.127 * [backup-simplify]: Simplify -1 into -1 11.127 * [taylor]: Taking taylor expansion of delta in phi1 11.127 * [backup-simplify]: Simplify delta into delta 11.127 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.127 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.127 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.127 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 11.127 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 11.127 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 11.127 * [taylor]: Taking taylor expansion of 1 in delta 11.127 * [backup-simplify]: Simplify 1 into 1 11.127 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 11.127 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.127 * [taylor]: Taking taylor expansion of -1 in delta 11.127 * [backup-simplify]: Simplify -1 into -1 11.127 * [taylor]: Taking taylor expansion of delta in delta 11.127 * [backup-simplify]: Simplify 0 into 0 11.127 * [backup-simplify]: Simplify 1 into 1 11.127 * [backup-simplify]: Simplify (/ -1 1) into -1 11.127 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.127 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 11.127 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 11.128 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.128 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.128 * [taylor]: Taking taylor expansion of -1 in delta 11.128 * [backup-simplify]: Simplify -1 into -1 11.128 * [taylor]: Taking taylor expansion of phi1 in delta 11.128 * [backup-simplify]: Simplify phi1 into phi1 11.128 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.128 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.128 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.128 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 11.128 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.128 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 11.128 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 11.128 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.128 * [taylor]: Taking taylor expansion of -1 in delta 11.128 * [backup-simplify]: Simplify -1 into -1 11.128 * [taylor]: Taking taylor expansion of delta in delta 11.128 * [backup-simplify]: Simplify 0 into 0 11.128 * [backup-simplify]: Simplify 1 into 1 11.128 * [backup-simplify]: Simplify (/ -1 1) into -1 11.128 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.128 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 11.128 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 11.128 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.128 * [taylor]: Taking taylor expansion of -1 in delta 11.128 * [backup-simplify]: Simplify -1 into -1 11.128 * [taylor]: Taking taylor expansion of phi1 in delta 11.128 * [backup-simplify]: Simplify phi1 into phi1 11.128 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.128 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.128 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.128 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 11.128 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 11.129 * [taylor]: Taking taylor expansion of -1 in delta 11.129 * [backup-simplify]: Simplify -1 into -1 11.129 * [taylor]: Taking taylor expansion of theta in delta 11.129 * [backup-simplify]: Simplify theta into theta 11.129 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.129 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.129 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.129 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 11.129 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.129 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.129 * [taylor]: Taking taylor expansion of -1 in delta 11.129 * [backup-simplify]: Simplify -1 into -1 11.129 * [taylor]: Taking taylor expansion of phi1 in delta 11.129 * [backup-simplify]: Simplify phi1 into phi1 11.129 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.129 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.129 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.129 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 11.129 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.129 * [taylor]: Taking taylor expansion of -1 in delta 11.129 * [backup-simplify]: Simplify -1 into -1 11.129 * [taylor]: Taking taylor expansion of delta in delta 11.129 * [backup-simplify]: Simplify 0 into 0 11.129 * [backup-simplify]: Simplify 1 into 1 11.129 * [backup-simplify]: Simplify (/ -1 1) into -1 11.129 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.129 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 11.129 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 11.129 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 11.129 * [taylor]: Taking taylor expansion of 1 in delta 11.129 * [backup-simplify]: Simplify 1 into 1 11.130 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 11.130 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.130 * [taylor]: Taking taylor expansion of -1 in delta 11.130 * [backup-simplify]: Simplify -1 into -1 11.130 * [taylor]: Taking taylor expansion of delta in delta 11.130 * [backup-simplify]: Simplify 0 into 0 11.130 * [backup-simplify]: Simplify 1 into 1 11.130 * [backup-simplify]: Simplify (/ -1 1) into -1 11.130 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.130 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 11.130 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 11.130 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.130 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.130 * [taylor]: Taking taylor expansion of -1 in delta 11.130 * [backup-simplify]: Simplify -1 into -1 11.130 * [taylor]: Taking taylor expansion of phi1 in delta 11.130 * [backup-simplify]: Simplify phi1 into phi1 11.130 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.130 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.130 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.130 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 11.130 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.130 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 11.130 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 11.130 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.130 * [taylor]: Taking taylor expansion of -1 in delta 11.130 * [backup-simplify]: Simplify -1 into -1 11.130 * [taylor]: Taking taylor expansion of delta in delta 11.130 * [backup-simplify]: Simplify 0 into 0 11.130 * [backup-simplify]: Simplify 1 into 1 11.131 * [backup-simplify]: Simplify (/ -1 1) into -1 11.131 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.131 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 11.131 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 11.131 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.131 * [taylor]: Taking taylor expansion of -1 in delta 11.131 * [backup-simplify]: Simplify -1 into -1 11.131 * [taylor]: Taking taylor expansion of phi1 in delta 11.131 * [backup-simplify]: Simplify phi1 into phi1 11.131 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.131 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.131 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.131 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 11.131 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 11.131 * [taylor]: Taking taylor expansion of -1 in delta 11.131 * [backup-simplify]: Simplify -1 into -1 11.131 * [taylor]: Taking taylor expansion of theta in delta 11.131 * [backup-simplify]: Simplify theta into theta 11.131 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.131 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.131 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.131 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 11.131 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.131 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.131 * [taylor]: Taking taylor expansion of -1 in delta 11.131 * [backup-simplify]: Simplify -1 into -1 11.131 * [taylor]: Taking taylor expansion of phi1 in delta 11.131 * [backup-simplify]: Simplify phi1 into phi1 11.131 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.131 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.131 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.131 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 11.131 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.131 * [taylor]: Taking taylor expansion of -1 in delta 11.131 * [backup-simplify]: Simplify -1 into -1 11.131 * [taylor]: Taking taylor expansion of delta in delta 11.131 * [backup-simplify]: Simplify 0 into 0 11.131 * [backup-simplify]: Simplify 1 into 1 11.132 * [backup-simplify]: Simplify (/ -1 1) into -1 11.132 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.132 * [backup-simplify]: Simplify (* 1 (cos (/ -1 delta))) into (cos (/ -1 delta)) 11.132 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.132 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.132 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.132 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 11.132 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 11.132 * [backup-simplify]: Simplify (- 0) into 0 11.133 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 11.133 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 11.133 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 11.133 * [backup-simplify]: Simplify (- 0) into 0 11.133 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 11.133 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 11.133 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 11.133 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.133 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.133 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.134 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 11.134 * [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))))) 11.134 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 11.134 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 11.135 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 11.135 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 11.135 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 11.135 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.135 * [taylor]: Taking taylor expansion of -1 in phi1 11.135 * [backup-simplify]: Simplify -1 into -1 11.135 * [taylor]: Taking taylor expansion of delta in phi1 11.135 * [backup-simplify]: Simplify delta into delta 11.135 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.135 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.135 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.135 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 11.135 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 11.135 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 11.135 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.135 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.135 * [taylor]: Taking taylor expansion of -1 in phi1 11.135 * [backup-simplify]: Simplify -1 into -1 11.135 * [taylor]: Taking taylor expansion of phi1 in phi1 11.135 * [backup-simplify]: Simplify 0 into 0 11.135 * [backup-simplify]: Simplify 1 into 1 11.135 * [backup-simplify]: Simplify (/ -1 1) into -1 11.135 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.135 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 11.135 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.135 * [taylor]: Taking taylor expansion of -1 in phi1 11.136 * [backup-simplify]: Simplify -1 into -1 11.136 * [taylor]: Taking taylor expansion of delta in phi1 11.136 * [backup-simplify]: Simplify delta into delta 11.136 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.136 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.136 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.136 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 11.136 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.136 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.136 * [taylor]: Taking taylor expansion of -1 in phi1 11.136 * [backup-simplify]: Simplify -1 into -1 11.136 * [taylor]: Taking taylor expansion of phi1 in phi1 11.136 * [backup-simplify]: Simplify 0 into 0 11.136 * [backup-simplify]: Simplify 1 into 1 11.136 * [backup-simplify]: Simplify (/ -1 1) into -1 11.136 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.136 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 11.136 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 11.136 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.136 * [taylor]: Taking taylor expansion of -1 in phi1 11.136 * [backup-simplify]: Simplify -1 into -1 11.136 * [taylor]: Taking taylor expansion of delta in phi1 11.136 * [backup-simplify]: Simplify delta into delta 11.136 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.136 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.136 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.136 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 11.136 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 11.136 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 11.136 * [taylor]: Taking taylor expansion of -1 in phi1 11.136 * [backup-simplify]: Simplify -1 into -1 11.136 * [taylor]: Taking taylor expansion of theta in phi1 11.136 * [backup-simplify]: Simplify theta into theta 11.136 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.137 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.137 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.137 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 11.137 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.137 * [taylor]: Taking taylor expansion of -1 in phi1 11.137 * [backup-simplify]: Simplify -1 into -1 11.137 * [taylor]: Taking taylor expansion of phi1 in phi1 11.137 * [backup-simplify]: Simplify 0 into 0 11.137 * [backup-simplify]: Simplify 1 into 1 11.137 * [backup-simplify]: Simplify (/ -1 1) into -1 11.137 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.137 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 11.137 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 11.137 * [backup-simplify]: Simplify (- 0) into 0 11.137 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 11.138 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 11.138 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 11.138 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 11.138 * [backup-simplify]: Simplify (- 0) into 0 11.138 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 11.138 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 11.138 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 11.138 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 11.138 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 11.138 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 11.138 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 11.139 * [backup-simplify]: Simplify (- 0) into 0 11.139 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 11.139 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 11.139 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 11.139 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 11.139 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 11.140 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 11.140 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 11.140 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 11.140 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 11.140 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.140 * [taylor]: Taking taylor expansion of -1 in theta 11.140 * [backup-simplify]: Simplify -1 into -1 11.140 * [taylor]: Taking taylor expansion of delta in theta 11.140 * [backup-simplify]: Simplify delta into delta 11.140 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.140 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.140 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.140 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 11.140 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 11.140 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 11.140 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.140 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.140 * [taylor]: Taking taylor expansion of -1 in theta 11.140 * [backup-simplify]: Simplify -1 into -1 11.140 * [taylor]: Taking taylor expansion of phi1 in theta 11.140 * [backup-simplify]: Simplify phi1 into phi1 11.140 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.140 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.140 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.141 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.141 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.141 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.141 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 11.141 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.141 * [taylor]: Taking taylor expansion of -1 in theta 11.141 * [backup-simplify]: Simplify -1 into -1 11.141 * [taylor]: Taking taylor expansion of delta in theta 11.141 * [backup-simplify]: Simplify delta into delta 11.141 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.141 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.141 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.141 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 11.141 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.141 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.141 * [taylor]: Taking taylor expansion of -1 in theta 11.141 * [backup-simplify]: Simplify -1 into -1 11.141 * [taylor]: Taking taylor expansion of phi1 in theta 11.141 * [backup-simplify]: Simplify phi1 into phi1 11.141 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.141 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.141 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.141 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 11.141 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 11.141 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.141 * [taylor]: Taking taylor expansion of -1 in theta 11.141 * [backup-simplify]: Simplify -1 into -1 11.141 * [taylor]: Taking taylor expansion of delta in theta 11.141 * [backup-simplify]: Simplify delta into delta 11.141 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.141 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.141 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.141 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 11.141 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 11.141 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 11.141 * [taylor]: Taking taylor expansion of -1 in theta 11.141 * [backup-simplify]: Simplify -1 into -1 11.141 * [taylor]: Taking taylor expansion of theta in theta 11.141 * [backup-simplify]: Simplify 0 into 0 11.141 * [backup-simplify]: Simplify 1 into 1 11.142 * [backup-simplify]: Simplify (/ -1 1) into -1 11.142 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.142 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 11.142 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.142 * [taylor]: Taking taylor expansion of -1 in theta 11.142 * [backup-simplify]: Simplify -1 into -1 11.142 * [taylor]: Taking taylor expansion of phi1 in theta 11.142 * [backup-simplify]: Simplify phi1 into phi1 11.142 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.142 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.142 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.142 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 11.142 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 11.142 * [backup-simplify]: Simplify (- 0) into 0 11.142 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 11.143 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 11.143 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 11.143 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 11.143 * [backup-simplify]: Simplify (- 0) into 0 11.143 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 11.143 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 11.143 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.143 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.143 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.143 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 11.143 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 11.143 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 11.143 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 11.143 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 11.144 * [backup-simplify]: Simplify (- 0) into 0 11.144 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 11.144 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 11.144 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 11.144 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 11.144 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 11.145 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 11.145 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 11.145 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 11.146 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ -1 delta)))) into 0 11.146 * [backup-simplify]: Simplify (+ 0) into 0 11.146 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 11.147 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 11.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.147 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 11.148 * [backup-simplify]: Simplify (- 0) into 0 11.148 * [backup-simplify]: Simplify (+ 0 0) into 0 11.148 * [backup-simplify]: Simplify (+ 0) into 0 11.148 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 11.148 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.150 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 11.150 * [backup-simplify]: Simplify (- 0) into 0 11.150 * [backup-simplify]: Simplify (+ 0 0) into 0 11.150 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 11.150 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 11.151 * [backup-simplify]: Simplify (+ 0) into 0 11.151 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.152 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.152 * [backup-simplify]: Simplify (+ 0 0) into 0 11.152 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 11.152 * [backup-simplify]: Simplify (+ 0 0) into 0 11.153 * [backup-simplify]: Simplify (+ 0) into 0 11.153 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.153 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.154 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.154 * [backup-simplify]: Simplify (+ 0 0) into 0 11.154 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 11.155 * [backup-simplify]: Simplify (- 0) into 0 11.155 * [backup-simplify]: Simplify (+ 0 0) into 0 11.155 * [taylor]: Taking taylor expansion of 0 in phi1 11.155 * [backup-simplify]: Simplify 0 into 0 11.155 * [taylor]: Taking taylor expansion of 0 in theta 11.155 * [backup-simplify]: Simplify 0 into 0 11.155 * [backup-simplify]: Simplify 0 into 0 11.155 * [backup-simplify]: Simplify (+ 0) into 0 11.156 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 11.156 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.156 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 11.157 * [backup-simplify]: Simplify (- 0) into 0 11.157 * [backup-simplify]: Simplify (+ 0 0) into 0 11.157 * [backup-simplify]: Simplify (+ 0) into 0 11.158 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 11.158 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.158 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 11.159 * [backup-simplify]: Simplify (- 0) into 0 11.159 * [backup-simplify]: Simplify (+ 0 0) into 0 11.159 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 11.159 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 11.159 * [backup-simplify]: Simplify (+ 0) into 0 11.160 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 11.160 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 11.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.165 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 11.165 * [backup-simplify]: Simplify (- 0) into 0 11.165 * [backup-simplify]: Simplify (+ 0 0) into 0 11.165 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 11.166 * [backup-simplify]: Simplify (+ 0) into 0 11.166 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 11.166 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.167 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 11.167 * [backup-simplify]: Simplify (+ 0 0) into 0 11.167 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 11.167 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 11.168 * [backup-simplify]: Simplify (+ 0 0) into 0 11.168 * [backup-simplify]: Simplify (- 0) into 0 11.168 * [backup-simplify]: Simplify (+ 0 0) into 0 11.168 * [taylor]: Taking taylor expansion of 0 in theta 11.168 * [backup-simplify]: Simplify 0 into 0 11.168 * [backup-simplify]: Simplify 0 into 0 11.169 * [backup-simplify]: Simplify (+ 0) into 0 11.169 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 11.169 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.170 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 11.170 * [backup-simplify]: Simplify (- 0) into 0 11.171 * [backup-simplify]: Simplify (+ 0 0) into 0 11.171 * [backup-simplify]: Simplify (+ 0) into 0 11.171 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 11.171 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.172 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 11.172 * [backup-simplify]: Simplify (- 0) into 0 11.172 * [backup-simplify]: Simplify (+ 0 0) into 0 11.173 * [backup-simplify]: Simplify (+ 0) into 0 11.173 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.173 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.174 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.174 * [backup-simplify]: Simplify (+ 0 0) into 0 11.174 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 11.174 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 11.175 * [backup-simplify]: Simplify (+ 0) into 0 11.175 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 11.175 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.176 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 11.176 * [backup-simplify]: Simplify (- 0) into 0 11.176 * [backup-simplify]: Simplify (+ 0 0) into 0 11.176 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 11.177 * [backup-simplify]: Simplify (+ 0) into 0 11.177 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 11.177 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.178 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 11.178 * [backup-simplify]: Simplify (+ 0 0) into 0 11.178 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 11.179 * [backup-simplify]: Simplify (+ 0) into 0 11.179 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.180 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.181 * [backup-simplify]: Simplify (+ 0 0) into 0 11.181 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 11.181 * [backup-simplify]: Simplify (+ 0 0) into 0 11.181 * [backup-simplify]: Simplify (- 0) into 0 11.182 * [backup-simplify]: Simplify (+ 0 0) into 0 11.182 * [backup-simplify]: Simplify 0 into 0 11.182 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 11.183 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.183 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.184 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.184 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.184 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.185 * [backup-simplify]: Simplify (- 0) into 0 11.185 * [backup-simplify]: Simplify (+ 0 0) into 0 11.185 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.186 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.186 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.187 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.187 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.187 * [backup-simplify]: Simplify (- 0) into 0 11.187 * [backup-simplify]: Simplify (+ 0 0) into 0 11.188 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 11.188 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 11.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.189 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.190 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.191 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.191 * [backup-simplify]: Simplify (+ 0 0) into 0 11.192 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 11.192 * [backup-simplify]: Simplify (+ 0 0) into 0 11.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.194 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.195 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.196 * [backup-simplify]: Simplify (+ 0 0) into 0 11.197 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 11.197 * [backup-simplify]: Simplify (- 0) into 0 11.197 * [backup-simplify]: Simplify (+ 0 0) into 0 11.197 * [taylor]: Taking taylor expansion of 0 in phi1 11.197 * [backup-simplify]: Simplify 0 into 0 11.197 * [taylor]: Taking taylor expansion of 0 in theta 11.197 * [backup-simplify]: Simplify 0 into 0 11.197 * [backup-simplify]: Simplify 0 into 0 11.197 * [taylor]: Taking taylor expansion of 0 in theta 11.197 * [backup-simplify]: Simplify 0 into 0 11.198 * [backup-simplify]: Simplify 0 into 0 11.198 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.199 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.199 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.200 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.201 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.201 * [backup-simplify]: Simplify (- 0) into 0 11.201 * [backup-simplify]: Simplify (+ 0 0) into 0 11.202 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.203 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.203 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.205 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.205 * [backup-simplify]: Simplify (- 0) into 0 11.205 * [backup-simplify]: Simplify (+ 0 0) into 0 11.206 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 11.206 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 11.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.208 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.208 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.209 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.210 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.210 * [backup-simplify]: Simplify (- 0) into 0 11.210 * [backup-simplify]: Simplify (+ 0 0) into 0 11.211 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 11.212 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.212 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.213 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.213 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.214 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.214 * [backup-simplify]: Simplify (+ 0 0) into 0 11.215 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 11.216 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 11.216 * [backup-simplify]: Simplify (+ 0 0) into 0 11.216 * [backup-simplify]: Simplify (- 0) into 0 11.217 * [backup-simplify]: Simplify (+ 0 0) into 0 11.217 * [taylor]: Taking taylor expansion of 0 in theta 11.217 * [backup-simplify]: Simplify 0 into 0 11.217 * [backup-simplify]: Simplify 0 into 0 11.218 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 11.218 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 1 1 2 3) 11.218 * [backup-simplify]: Simplify (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) into (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) 11.218 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in (phi1 delta theta) around 0 11.218 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 11.218 * [taylor]: Taking taylor expansion of (sin phi1) in theta 11.218 * [taylor]: Taking taylor expansion of phi1 in theta 11.218 * [backup-simplify]: Simplify phi1 into phi1 11.218 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 11.218 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 11.218 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 11.218 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 11.218 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 11.218 * [taylor]: Taking taylor expansion of (sin delta) in theta 11.218 * [taylor]: Taking taylor expansion of delta in theta 11.218 * [backup-simplify]: Simplify delta into delta 11.219 * [backup-simplify]: Simplify (sin delta) into (sin delta) 11.219 * [backup-simplify]: Simplify (cos delta) into (cos delta) 11.219 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 11.219 * [taylor]: Taking taylor expansion of (cos phi1) in theta 11.219 * [taylor]: Taking taylor expansion of phi1 in theta 11.219 * [backup-simplify]: Simplify phi1 into phi1 11.219 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 11.219 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 11.219 * [taylor]: Taking taylor expansion of (cos theta) in theta 11.219 * [taylor]: Taking taylor expansion of theta in theta 11.219 * [backup-simplify]: Simplify 0 into 0 11.219 * [backup-simplify]: Simplify 1 into 1 11.219 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 11.219 * [taylor]: Taking taylor expansion of (sin phi1) in theta 11.219 * [taylor]: Taking taylor expansion of phi1 in theta 11.219 * [backup-simplify]: Simplify phi1 into phi1 11.219 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 11.219 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 11.219 * [taylor]: Taking taylor expansion of (cos delta) in theta 11.219 * [taylor]: Taking taylor expansion of delta in theta 11.219 * [backup-simplify]: Simplify delta into delta 11.219 * [backup-simplify]: Simplify (cos delta) into (cos delta) 11.219 * [backup-simplify]: Simplify (sin delta) into (sin delta) 11.219 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 11.219 * [taylor]: Taking taylor expansion of (sin phi1) in delta 11.219 * [taylor]: Taking taylor expansion of phi1 in delta 11.219 * [backup-simplify]: Simplify phi1 into phi1 11.219 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 11.219 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 11.219 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 11.220 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 11.220 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 11.220 * [taylor]: Taking taylor expansion of (sin delta) in delta 11.220 * [taylor]: Taking taylor expansion of delta in delta 11.220 * [backup-simplify]: Simplify 0 into 0 11.220 * [backup-simplify]: Simplify 1 into 1 11.220 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 11.220 * [taylor]: Taking taylor expansion of (cos phi1) in delta 11.220 * [taylor]: Taking taylor expansion of phi1 in delta 11.220 * [backup-simplify]: Simplify phi1 into phi1 11.220 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 11.220 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 11.220 * [taylor]: Taking taylor expansion of (cos theta) in delta 11.220 * [taylor]: Taking taylor expansion of theta in delta 11.220 * [backup-simplify]: Simplify theta into theta 11.220 * [backup-simplify]: Simplify (cos theta) into (cos theta) 11.220 * [backup-simplify]: Simplify (sin theta) into (sin theta) 11.220 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 11.220 * [taylor]: Taking taylor expansion of (sin phi1) in delta 11.220 * [taylor]: Taking taylor expansion of phi1 in delta 11.220 * [backup-simplify]: Simplify phi1 into phi1 11.220 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 11.220 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 11.220 * [taylor]: Taking taylor expansion of (cos delta) in delta 11.220 * [taylor]: Taking taylor expansion of delta in delta 11.221 * [backup-simplify]: Simplify 0 into 0 11.221 * [backup-simplify]: Simplify 1 into 1 11.221 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 11.221 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 11.221 * [taylor]: Taking taylor expansion of phi1 in phi1 11.221 * [backup-simplify]: Simplify 0 into 0 11.221 * [backup-simplify]: Simplify 1 into 1 11.221 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 11.221 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 11.221 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 11.221 * [taylor]: Taking taylor expansion of (sin delta) in phi1 11.221 * [taylor]: Taking taylor expansion of delta in phi1 11.221 * [backup-simplify]: Simplify delta into delta 11.221 * [backup-simplify]: Simplify (sin delta) into (sin delta) 11.221 * [backup-simplify]: Simplify (cos delta) into (cos delta) 11.221 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 11.221 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 11.221 * [taylor]: Taking taylor expansion of phi1 in phi1 11.221 * [backup-simplify]: Simplify 0 into 0 11.221 * [backup-simplify]: Simplify 1 into 1 11.221 * [taylor]: Taking taylor expansion of (cos theta) in phi1 11.221 * [taylor]: Taking taylor expansion of theta in phi1 11.221 * [backup-simplify]: Simplify theta into theta 11.221 * [backup-simplify]: Simplify (cos theta) into (cos theta) 11.221 * [backup-simplify]: Simplify (sin theta) into (sin theta) 11.221 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 11.221 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 11.221 * [taylor]: Taking taylor expansion of phi1 in phi1 11.221 * [backup-simplify]: Simplify 0 into 0 11.221 * [backup-simplify]: Simplify 1 into 1 11.221 * [taylor]: Taking taylor expansion of (cos delta) in phi1 11.221 * [taylor]: Taking taylor expansion of delta in phi1 11.221 * [backup-simplify]: Simplify delta into delta 11.221 * [backup-simplify]: Simplify (cos delta) into (cos delta) 11.222 * [backup-simplify]: Simplify (sin delta) into (sin delta) 11.222 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 11.222 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 11.222 * [taylor]: Taking taylor expansion of phi1 in phi1 11.222 * [backup-simplify]: Simplify 0 into 0 11.222 * [backup-simplify]: Simplify 1 into 1 11.222 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 11.222 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 11.222 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 11.222 * [taylor]: Taking taylor expansion of (sin delta) in phi1 11.222 * [taylor]: Taking taylor expansion of delta in phi1 11.222 * [backup-simplify]: Simplify delta into delta 11.222 * [backup-simplify]: Simplify (sin delta) into (sin delta) 11.222 * [backup-simplify]: Simplify (cos delta) into (cos delta) 11.222 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 11.222 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 11.222 * [taylor]: Taking taylor expansion of phi1 in phi1 11.222 * [backup-simplify]: Simplify 0 into 0 11.222 * [backup-simplify]: Simplify 1 into 1 11.222 * [taylor]: Taking taylor expansion of (cos theta) in phi1 11.222 * [taylor]: Taking taylor expansion of theta in phi1 11.222 * [backup-simplify]: Simplify theta into theta 11.222 * [backup-simplify]: Simplify (cos theta) into (cos theta) 11.222 * [backup-simplify]: Simplify (sin theta) into (sin theta) 11.222 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 11.222 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 11.222 * [taylor]: Taking taylor expansion of phi1 in phi1 11.222 * [backup-simplify]: Simplify 0 into 0 11.222 * [backup-simplify]: Simplify 1 into 1 11.222 * [taylor]: Taking taylor expansion of (cos delta) in phi1 11.222 * [taylor]: Taking taylor expansion of delta in phi1 11.222 * [backup-simplify]: Simplify delta into delta 11.222 * [backup-simplify]: Simplify (cos delta) into (cos delta) 11.222 * [backup-simplify]: Simplify (sin delta) into (sin delta) 11.223 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 11.223 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 11.223 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 11.223 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 11.223 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 11.223 * [backup-simplify]: Simplify (- 0) into 0 11.224 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 11.224 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 11.224 * [backup-simplify]: Simplify (* (sin delta) (cos theta)) into (* (sin delta) (cos theta)) 11.224 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 11.224 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 11.224 * [backup-simplify]: Simplify (- 0) into 0 11.224 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 11.224 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 11.224 * [backup-simplify]: Simplify (+ (* (sin delta) (cos theta)) 0) into (* (sin delta) (cos theta)) 11.225 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 11.225 * [taylor]: Taking taylor expansion of 0 in delta 11.225 * [backup-simplify]: Simplify 0 into 0 11.225 * [taylor]: Taking taylor expansion of 0 in theta 11.225 * [backup-simplify]: Simplify 0 into 0 11.225 * [backup-simplify]: Simplify 0 into 0 11.225 * [backup-simplify]: Simplify (+ 0) into 0 11.226 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 11.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.227 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 11.227 * [backup-simplify]: Simplify (- 0) into 0 11.228 * [backup-simplify]: Simplify (+ 0 0) into 0 11.228 * [backup-simplify]: Simplify (+ 0) into 0 11.228 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 11.229 * [backup-simplify]: Simplify (+ 0) into 0 11.229 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 11.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.230 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 11.231 * [backup-simplify]: Simplify (+ 0 0) into 0 11.231 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 (cos theta))) into 0 11.231 * [backup-simplify]: Simplify (+ 0) into 0 11.232 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 11.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.233 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 11.233 * [backup-simplify]: Simplify (- 0) into 0 11.234 * [backup-simplify]: Simplify (+ 0 0) into 0 11.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 11.235 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 11.235 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 11.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 11.236 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (sin delta) (cos theta)))) into (* (sin delta) (cos theta)) 11.236 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 11.236 * [taylor]: Taking taylor expansion of (sin delta) in delta 11.236 * [taylor]: Taking taylor expansion of delta in delta 11.236 * [backup-simplify]: Simplify 0 into 0 11.236 * [backup-simplify]: Simplify 1 into 1 11.236 * [taylor]: Taking taylor expansion of (cos theta) in delta 11.236 * [taylor]: Taking taylor expansion of theta in delta 11.236 * [backup-simplify]: Simplify theta into theta 11.236 * [backup-simplify]: Simplify (cos theta) into (cos theta) 11.236 * [backup-simplify]: Simplify (sin theta) into (sin theta) 11.236 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 11.236 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 11.237 * [backup-simplify]: Simplify (- 0) into 0 11.237 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 11.237 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 11.237 * [taylor]: Taking taylor expansion of 0 in theta 11.237 * [backup-simplify]: Simplify 0 into 0 11.237 * [backup-simplify]: Simplify 0 into 0 11.237 * [taylor]: Taking taylor expansion of 0 in theta 11.237 * [backup-simplify]: Simplify 0 into 0 11.237 * [backup-simplify]: Simplify 0 into 0 11.237 * [backup-simplify]: Simplify 0 into 0 11.238 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.239 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 11.239 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.240 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 11.240 * [backup-simplify]: Simplify (- 0) into 0 11.241 * [backup-simplify]: Simplify (+ 0 0) into 0 11.242 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 11.243 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (cos theta)))) into (- (* 1/2 (cos theta))) 11.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.244 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 11.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.245 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 11.246 * [backup-simplify]: Simplify (+ 0 0) into 0 11.246 * [backup-simplify]: Simplify (+ (* (sin delta) (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta)))) into (- (* 1/2 (* (sin delta) (cos theta)))) 11.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.248 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 11.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.249 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 11.250 * [backup-simplify]: Simplify (- 0) into 0 11.250 * [backup-simplify]: Simplify (+ 0 0) into 0 11.251 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.252 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 11.252 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (sin delta) (cos theta)))) 0) into (- (* 1/2 (* (sin delta) (cos theta)))) 11.253 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.253 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 1 (cos delta)) (* 0 (* (sin delta) (cos theta))))) into (cos delta) 11.253 * [taylor]: Taking taylor expansion of (cos delta) in delta 11.253 * [taylor]: Taking taylor expansion of delta in delta 11.253 * [backup-simplify]: Simplify 0 into 0 11.253 * [backup-simplify]: Simplify 1 into 1 11.253 * [taylor]: Taking taylor expansion of 1 in theta 11.253 * [backup-simplify]: Simplify 1 into 1 11.253 * [backup-simplify]: Simplify 1 into 1 11.253 * [backup-simplify]: Simplify (+ 0) into 0 11.254 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 11.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.254 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 11.255 * [backup-simplify]: Simplify (- 0) into 0 11.255 * [backup-simplify]: Simplify (+ 0 0) into 0 11.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 11.256 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 11.256 * [taylor]: Taking taylor expansion of (cos theta) in theta 11.256 * [taylor]: Taking taylor expansion of theta in theta 11.256 * [backup-simplify]: Simplify 0 into 0 11.256 * [backup-simplify]: Simplify 1 into 1 11.256 * [backup-simplify]: Simplify 1 into 1 11.256 * [taylor]: Taking taylor expansion of 0 in theta 11.256 * [backup-simplify]: Simplify 0 into 0 11.256 * [backup-simplify]: Simplify 0 into 0 11.256 * [backup-simplify]: Simplify 0 into 0 11.256 * [backup-simplify]: Simplify 0 into 0 11.256 * [backup-simplify]: Simplify 0 into 0 11.256 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 11.257 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 11.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 11.258 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 11.259 * [backup-simplify]: Simplify (- 0) into 0 11.259 * [backup-simplify]: Simplify (+ 0 0) into 0 11.260 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 11.261 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (cos theta))))) into 0 11.261 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 11.262 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 11.262 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 11.263 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 11.263 * [backup-simplify]: Simplify (+ 0 0) into 0 11.263 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta))))) into 0 11.264 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 11.265 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 11.265 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 11.266 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 11.266 * [backup-simplify]: Simplify (- 0) into 0 11.266 * [backup-simplify]: Simplify (+ 0 0) into 0 11.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 11.268 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 11.268 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 11.269 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 11.269 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/6 (cos delta)))) (+ (* 1 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 0 (cos delta)) (* -1/6 (* (sin delta) (cos theta)))))) into (- (* 2/3 (* (sin delta) (cos theta)))) 11.269 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (sin delta) (cos theta)))) in delta 11.269 * [taylor]: Taking taylor expansion of (* 2/3 (* (sin delta) (cos theta))) in delta 11.269 * [taylor]: Taking taylor expansion of 2/3 in delta 11.269 * [backup-simplify]: Simplify 2/3 into 2/3 11.269 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 11.269 * [taylor]: Taking taylor expansion of (sin delta) in delta 11.269 * [taylor]: Taking taylor expansion of delta in delta 11.269 * [backup-simplify]: Simplify 0 into 0 11.269 * [backup-simplify]: Simplify 1 into 1 11.269 * [taylor]: Taking taylor expansion of (cos theta) in delta 11.269 * [taylor]: Taking taylor expansion of theta in delta 11.269 * [backup-simplify]: Simplify theta into theta 11.269 * [backup-simplify]: Simplify (cos theta) into (cos theta) 11.269 * [backup-simplify]: Simplify (sin theta) into (sin theta) 11.270 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 11.270 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 11.270 * [backup-simplify]: Simplify (- 0) into 0 11.270 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 11.270 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 11.270 * [backup-simplify]: Simplify (* 2/3 0) into 0 11.271 * [backup-simplify]: Simplify (- 0) into 0 11.271 * [taylor]: Taking taylor expansion of 0 in theta 11.271 * [backup-simplify]: Simplify 0 into 0 11.271 * [backup-simplify]: Simplify 0 into 0 11.271 * [backup-simplify]: Simplify (+ 0) into 0 11.271 * [taylor]: Taking taylor expansion of 0 in theta 11.271 * [backup-simplify]: Simplify 0 into 0 11.271 * [backup-simplify]: Simplify 0 into 0 11.271 * [backup-simplify]: Simplify (+ (* 1 (* 1 (* delta phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 11.271 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))) into (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 11.271 * [approximate]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in (phi1 delta theta) around 0 11.271 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 11.271 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 11.271 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 11.272 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 11.272 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 11.272 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 11.272 * [taylor]: Taking taylor expansion of delta in theta 11.272 * [backup-simplify]: Simplify delta into delta 11.272 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.272 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.272 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.272 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 11.272 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 11.272 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 11.272 * [taylor]: Taking taylor expansion of theta in theta 11.272 * [backup-simplify]: Simplify 0 into 0 11.272 * [backup-simplify]: Simplify 1 into 1 11.272 * [backup-simplify]: Simplify (/ 1 1) into 1 11.272 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.272 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 11.272 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.272 * [taylor]: Taking taylor expansion of phi1 in theta 11.272 * [backup-simplify]: Simplify phi1 into phi1 11.272 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.272 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.272 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.272 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 11.272 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 11.272 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 11.272 * [taylor]: Taking taylor expansion of delta in theta 11.272 * [backup-simplify]: Simplify delta into delta 11.272 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.272 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.272 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.272 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 11.273 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.273 * [taylor]: Taking taylor expansion of phi1 in theta 11.273 * [backup-simplify]: Simplify phi1 into phi1 11.273 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.273 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.273 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.273 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 11.273 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.273 * [taylor]: Taking taylor expansion of phi1 in theta 11.273 * [backup-simplify]: Simplify phi1 into phi1 11.273 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.273 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.273 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.273 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 11.273 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 11.273 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 11.273 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 11.273 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 11.273 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 11.273 * [taylor]: Taking taylor expansion of delta in delta 11.273 * [backup-simplify]: Simplify 0 into 0 11.273 * [backup-simplify]: Simplify 1 into 1 11.273 * [backup-simplify]: Simplify (/ 1 1) into 1 11.273 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.273 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 11.273 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 11.273 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 11.273 * [taylor]: Taking taylor expansion of theta in delta 11.273 * [backup-simplify]: Simplify theta into theta 11.273 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 11.273 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.274 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 11.274 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 11.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.274 * [taylor]: Taking taylor expansion of phi1 in delta 11.274 * [backup-simplify]: Simplify phi1 into phi1 11.274 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.274 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.274 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.274 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 11.274 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 11.274 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 11.274 * [taylor]: Taking taylor expansion of delta in delta 11.274 * [backup-simplify]: Simplify 0 into 0 11.274 * [backup-simplify]: Simplify 1 into 1 11.274 * [backup-simplify]: Simplify (/ 1 1) into 1 11.274 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.274 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 11.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.274 * [taylor]: Taking taylor expansion of phi1 in delta 11.274 * [backup-simplify]: Simplify phi1 into phi1 11.274 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.274 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.274 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.274 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 11.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.274 * [taylor]: Taking taylor expansion of phi1 in delta 11.274 * [backup-simplify]: Simplify phi1 into phi1 11.274 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.274 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.274 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.274 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 11.274 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 11.275 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 11.275 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 11.275 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 11.275 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 11.275 * [taylor]: Taking taylor expansion of delta in phi1 11.275 * [backup-simplify]: Simplify delta into delta 11.275 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.275 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.275 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.275 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 11.275 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 11.275 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 11.275 * [taylor]: Taking taylor expansion of theta in phi1 11.275 * [backup-simplify]: Simplify theta into theta 11.275 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 11.275 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.275 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 11.275 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 11.275 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.275 * [taylor]: Taking taylor expansion of phi1 in phi1 11.275 * [backup-simplify]: Simplify 0 into 0 11.275 * [backup-simplify]: Simplify 1 into 1 11.275 * [backup-simplify]: Simplify (/ 1 1) into 1 11.275 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.275 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 11.275 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 11.275 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 11.275 * [taylor]: Taking taylor expansion of delta in phi1 11.275 * [backup-simplify]: Simplify delta into delta 11.275 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.275 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.275 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.276 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 11.276 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.276 * [taylor]: Taking taylor expansion of phi1 in phi1 11.276 * [backup-simplify]: Simplify 0 into 0 11.276 * [backup-simplify]: Simplify 1 into 1 11.276 * [backup-simplify]: Simplify (/ 1 1) into 1 11.276 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.276 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 11.276 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.276 * [taylor]: Taking taylor expansion of phi1 in phi1 11.276 * [backup-simplify]: Simplify 0 into 0 11.276 * [backup-simplify]: Simplify 1 into 1 11.276 * [backup-simplify]: Simplify (/ 1 1) into 1 11.276 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.276 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 11.276 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 11.276 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 11.276 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 11.276 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 11.276 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 11.276 * [taylor]: Taking taylor expansion of delta in phi1 11.276 * [backup-simplify]: Simplify delta into delta 11.276 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.276 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.277 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.277 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 11.277 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 11.277 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 11.277 * [taylor]: Taking taylor expansion of theta in phi1 11.277 * [backup-simplify]: Simplify theta into theta 11.277 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 11.277 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.277 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 11.277 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 11.277 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.277 * [taylor]: Taking taylor expansion of phi1 in phi1 11.277 * [backup-simplify]: Simplify 0 into 0 11.277 * [backup-simplify]: Simplify 1 into 1 11.277 * [backup-simplify]: Simplify (/ 1 1) into 1 11.277 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.277 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 11.277 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 11.277 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 11.277 * [taylor]: Taking taylor expansion of delta in phi1 11.277 * [backup-simplify]: Simplify delta into delta 11.277 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.277 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.277 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.277 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 11.277 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.277 * [taylor]: Taking taylor expansion of phi1 in phi1 11.277 * [backup-simplify]: Simplify 0 into 0 11.277 * [backup-simplify]: Simplify 1 into 1 11.278 * [backup-simplify]: Simplify (/ 1 1) into 1 11.278 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.278 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 11.278 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 11.278 * [taylor]: Taking taylor expansion of phi1 in phi1 11.278 * [backup-simplify]: Simplify 0 into 0 11.278 * [backup-simplify]: Simplify 1 into 1 11.278 * [backup-simplify]: Simplify (/ 1 1) into 1 11.278 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.278 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 11.278 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 11.278 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 11.278 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 11.278 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 11.279 * [backup-simplify]: Simplify (- 0) into 0 11.279 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 11.279 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 11.279 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 11.279 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 11.279 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 11.279 * [backup-simplify]: Simplify (- 0) into 0 11.279 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 11.279 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 11.280 * [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))))) 11.280 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 11.280 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) in delta 11.280 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in delta 11.280 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 11.280 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 11.280 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.280 * [taylor]: Taking taylor expansion of phi1 in delta 11.280 * [backup-simplify]: Simplify phi1 into phi1 11.280 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.280 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.280 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.280 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 11.280 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 11.280 * [taylor]: Taking taylor expansion of delta in delta 11.280 * [backup-simplify]: Simplify 0 into 0 11.280 * [backup-simplify]: Simplify 1 into 1 11.280 * [backup-simplify]: Simplify (/ 1 1) into 1 11.280 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.280 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in delta 11.280 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 11.280 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.280 * [taylor]: Taking taylor expansion of phi1 in delta 11.280 * [backup-simplify]: Simplify phi1 into phi1 11.281 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.281 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.281 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.281 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in delta 11.281 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 11.281 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 11.281 * [taylor]: Taking taylor expansion of theta in delta 11.281 * [backup-simplify]: Simplify theta into theta 11.281 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 11.281 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.281 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 11.281 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 11.281 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 11.281 * [taylor]: Taking taylor expansion of delta in delta 11.281 * [backup-simplify]: Simplify 0 into 0 11.281 * [backup-simplify]: Simplify 1 into 1 11.286 * [backup-simplify]: Simplify (/ 1 1) into 1 11.287 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.287 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 11.287 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 11.287 * [taylor]: Taking taylor expansion of phi1 in delta 11.287 * [backup-simplify]: Simplify phi1 into phi1 11.287 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.287 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.287 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.287 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.287 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.287 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.287 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 11.287 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 11.288 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 11.288 * [backup-simplify]: Simplify (- 0) into 0 11.288 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 11.288 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 11.289 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 11.289 * [backup-simplify]: Simplify (- 0) into 0 11.289 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 11.289 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 11.290 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 11.290 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 11.290 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.290 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.290 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.291 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 11.291 * [taylor]: Taking taylor expansion of (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 11.291 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 11.291 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 11.291 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 11.291 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 11.291 * [taylor]: Taking taylor expansion of delta in theta 11.291 * [backup-simplify]: Simplify delta into delta 11.291 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.291 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.291 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.291 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 11.291 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.291 * [taylor]: Taking taylor expansion of phi1 in theta 11.291 * [backup-simplify]: Simplify phi1 into phi1 11.291 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.291 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.291 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.291 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 11.291 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 11.291 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 11.291 * [taylor]: Taking taylor expansion of delta in theta 11.291 * [backup-simplify]: Simplify delta into delta 11.291 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 11.291 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 11.291 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 11.292 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 11.292 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 11.292 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 11.292 * [taylor]: Taking taylor expansion of theta in theta 11.292 * [backup-simplify]: Simplify 0 into 0 11.292 * [backup-simplify]: Simplify 1 into 1 11.292 * [backup-simplify]: Simplify (/ 1 1) into 1 11.292 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 11.292 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 11.292 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.292 * [taylor]: Taking taylor expansion of phi1 in theta 11.292 * [backup-simplify]: Simplify phi1 into phi1 11.292 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.292 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.293 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.293 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 11.293 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 11.293 * [taylor]: Taking taylor expansion of phi1 in theta 11.293 * [backup-simplify]: Simplify phi1 into phi1 11.293 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 11.293 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 11.293 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 11.293 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 11.293 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 11.293 * [backup-simplify]: Simplify (- 0) into 0 11.294 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 11.294 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.294 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.294 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.294 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 11.294 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 11.294 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 11.294 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 11.294 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 11.294 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 11.295 * [backup-simplify]: Simplify (- 0) into 0 11.295 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 11.295 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 11.295 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 11.295 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 11.296 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 11.296 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 11.296 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 11.296 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 11.296 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 11.297 * [backup-simplify]: Simplify (+ 0) into 0 11.298 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 11.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 11.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.299 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 11.300 * [backup-simplify]: Simplify (- 0) into 0 11.300 * [backup-simplify]: Simplify (+ 0 0) into 0 11.300 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 11.301 * [backup-simplify]: Simplify (+ 0) into 0 11.301 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 11.301 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.302 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 11.303 * [backup-simplify]: Simplify (+ 0 0) into 0 11.303 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 11.303 * [backup-simplify]: Simplify (+ 0) into 0 11.304 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 11.304 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.305 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 11.306 * [backup-simplify]: Simplify (- 0) into 0 11.306 * [backup-simplify]: Simplify (+ 0 0) into 0 11.306 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.307 * [backup-simplify]: Simplify (+ 0 0) into 0 11.307 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.307 * [taylor]: Taking taylor expansion of 0 in delta 11.307 * [backup-simplify]: Simplify 0 into 0 11.307 * [taylor]: Taking taylor expansion of 0 in theta 11.307 * [backup-simplify]: Simplify 0 into 0 11.307 * [backup-simplify]: Simplify 0 into 0 11.308 * [backup-simplify]: Simplify (+ 0) into 0 11.308 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.308 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.310 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.310 * [backup-simplify]: Simplify (+ 0 0) into 0 11.310 * [backup-simplify]: Simplify (+ 0) into 0 11.311 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.311 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.312 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.313 * [backup-simplify]: Simplify (+ 0 0) into 0 11.313 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 11.313 * [backup-simplify]: Simplify (+ 0) into 0 11.314 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 11.314 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 11.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.315 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 11.316 * [backup-simplify]: Simplify (- 0) into 0 11.317 * [backup-simplify]: Simplify (+ 0 0) into 0 11.317 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 11.317 * [backup-simplify]: Simplify (+ 0) into 0 11.318 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 11.318 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.319 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 11.320 * [backup-simplify]: Simplify (- 0) into 0 11.320 * [backup-simplify]: Simplify (+ 0 0) into 0 11.321 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 11.321 * [backup-simplify]: Simplify (+ 0 0) into 0 11.321 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.321 * [taylor]: Taking taylor expansion of 0 in theta 11.321 * [backup-simplify]: Simplify 0 into 0 11.321 * [backup-simplify]: Simplify 0 into 0 11.322 * [backup-simplify]: Simplify (+ 0) into 0 11.322 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.322 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.324 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.324 * [backup-simplify]: Simplify (+ 0 0) into 0 11.324 * [backup-simplify]: Simplify (+ 0) into 0 11.325 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 11.325 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.326 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 11.327 * [backup-simplify]: Simplify (+ 0 0) into 0 11.327 * [backup-simplify]: Simplify (+ 0) into 0 11.328 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 11.328 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.329 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 11.330 * [backup-simplify]: Simplify (- 0) into 0 11.330 * [backup-simplify]: Simplify (+ 0 0) into 0 11.330 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.331 * [backup-simplify]: Simplify (+ 0) into 0 11.331 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 11.331 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 11.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.333 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 11.333 * [backup-simplify]: Simplify (- 0) into 0 11.334 * [backup-simplify]: Simplify (+ 0 0) into 0 11.334 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 11.334 * [backup-simplify]: Simplify (+ 0) into 0 11.335 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 11.335 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 11.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.337 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 11.337 * [backup-simplify]: Simplify (+ 0 0) into 0 11.337 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 11.338 * [backup-simplify]: Simplify (+ 0 0) into 0 11.338 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 11.338 * [backup-simplify]: Simplify 0 into 0 11.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.340 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.341 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.342 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.342 * [backup-simplify]: Simplify (- 0) into 0 11.343 * [backup-simplify]: Simplify (+ 0 0) into 0 11.343 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 11.344 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.345 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.345 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.346 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.347 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.347 * [backup-simplify]: Simplify (+ 0 0) into 0 11.348 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 11.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.349 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.350 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.351 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.351 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.352 * [backup-simplify]: Simplify (- 0) into 0 11.352 * [backup-simplify]: Simplify (+ 0 0) into 0 11.353 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 11.353 * [backup-simplify]: Simplify (+ 0 0) into 0 11.354 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 11.354 * [taylor]: Taking taylor expansion of 0 in delta 11.354 * [backup-simplify]: Simplify 0 into 0 11.354 * [taylor]: Taking taylor expansion of 0 in theta 11.354 * [backup-simplify]: Simplify 0 into 0 11.354 * [backup-simplify]: Simplify 0 into 0 11.354 * [taylor]: Taking taylor expansion of 0 in theta 11.354 * [backup-simplify]: Simplify 0 into 0 11.354 * [backup-simplify]: Simplify 0 into 0 11.355 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.356 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.356 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.357 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.358 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.358 * [backup-simplify]: Simplify (+ 0 0) into 0 11.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.360 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.360 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.361 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.362 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.362 * [backup-simplify]: Simplify (+ 0 0) into 0 11.362 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 11.363 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.364 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.364 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.365 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.366 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.366 * [backup-simplify]: Simplify (- 0) into 0 11.366 * [backup-simplify]: Simplify (+ 0 0) into 0 11.367 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 11.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.369 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.369 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.370 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.371 * [backup-simplify]: Simplify (- 0) into 0 11.371 * [backup-simplify]: Simplify (+ 0 0) into 0 11.372 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 11.372 * [backup-simplify]: Simplify (+ 0 0) into 0 11.373 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 11.373 * [taylor]: Taking taylor expansion of 0 in theta 11.373 * [backup-simplify]: Simplify 0 into 0 11.373 * [backup-simplify]: Simplify 0 into 0 11.374 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))) (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 11.374 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))) into (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 11.374 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (phi1 delta theta) around 0 11.374 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 11.374 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.374 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.374 * [taylor]: Taking taylor expansion of -1 in theta 11.374 * [backup-simplify]: Simplify -1 into -1 11.374 * [taylor]: Taking taylor expansion of phi1 in theta 11.374 * [backup-simplify]: Simplify phi1 into phi1 11.374 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.375 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.375 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.375 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 11.375 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.375 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 11.375 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 11.375 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.375 * [taylor]: Taking taylor expansion of -1 in theta 11.375 * [backup-simplify]: Simplify -1 into -1 11.375 * [taylor]: Taking taylor expansion of delta in theta 11.375 * [backup-simplify]: Simplify delta into delta 11.375 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.375 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.375 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.375 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 11.375 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 11.375 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.375 * [taylor]: Taking taylor expansion of -1 in theta 11.375 * [backup-simplify]: Simplify -1 into -1 11.375 * [taylor]: Taking taylor expansion of phi1 in theta 11.375 * [backup-simplify]: Simplify phi1 into phi1 11.375 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.375 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.376 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.376 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 11.376 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 11.376 * [taylor]: Taking taylor expansion of -1 in theta 11.376 * [backup-simplify]: Simplify -1 into -1 11.376 * [taylor]: Taking taylor expansion of theta in theta 11.376 * [backup-simplify]: Simplify 0 into 0 11.376 * [backup-simplify]: Simplify 1 into 1 11.376 * [backup-simplify]: Simplify (/ -1 1) into -1 11.376 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.376 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 11.376 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.376 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.377 * [taylor]: Taking taylor expansion of -1 in theta 11.377 * [backup-simplify]: Simplify -1 into -1 11.377 * [taylor]: Taking taylor expansion of phi1 in theta 11.377 * [backup-simplify]: Simplify phi1 into phi1 11.377 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.377 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.377 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.377 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 11.377 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.377 * [taylor]: Taking taylor expansion of -1 in theta 11.377 * [backup-simplify]: Simplify -1 into -1 11.377 * [taylor]: Taking taylor expansion of delta in theta 11.377 * [backup-simplify]: Simplify delta into delta 11.377 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.377 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.377 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.377 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 11.377 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.377 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.377 * [taylor]: Taking taylor expansion of -1 in delta 11.377 * [backup-simplify]: Simplify -1 into -1 11.377 * [taylor]: Taking taylor expansion of phi1 in delta 11.377 * [backup-simplify]: Simplify phi1 into phi1 11.377 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.377 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.377 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.378 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 11.378 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.378 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 11.378 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 11.378 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.378 * [taylor]: Taking taylor expansion of -1 in delta 11.378 * [backup-simplify]: Simplify -1 into -1 11.378 * [taylor]: Taking taylor expansion of delta in delta 11.378 * [backup-simplify]: Simplify 0 into 0 11.378 * [backup-simplify]: Simplify 1 into 1 11.378 * [backup-simplify]: Simplify (/ -1 1) into -1 11.378 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.378 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 11.378 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 11.378 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.379 * [taylor]: Taking taylor expansion of -1 in delta 11.379 * [backup-simplify]: Simplify -1 into -1 11.379 * [taylor]: Taking taylor expansion of phi1 in delta 11.379 * [backup-simplify]: Simplify phi1 into phi1 11.379 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.379 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.379 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.379 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 11.379 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 11.379 * [taylor]: Taking taylor expansion of -1 in delta 11.379 * [backup-simplify]: Simplify -1 into -1 11.379 * [taylor]: Taking taylor expansion of theta in delta 11.379 * [backup-simplify]: Simplify theta into theta 11.379 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.379 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.379 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.379 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 11.379 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.379 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.379 * [taylor]: Taking taylor expansion of -1 in delta 11.379 * [backup-simplify]: Simplify -1 into -1 11.379 * [taylor]: Taking taylor expansion of phi1 in delta 11.379 * [backup-simplify]: Simplify phi1 into phi1 11.379 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.379 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.380 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.380 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 11.380 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.380 * [taylor]: Taking taylor expansion of -1 in delta 11.380 * [backup-simplify]: Simplify -1 into -1 11.380 * [taylor]: Taking taylor expansion of delta in delta 11.380 * [backup-simplify]: Simplify 0 into 0 11.380 * [backup-simplify]: Simplify 1 into 1 11.380 * [backup-simplify]: Simplify (/ -1 1) into -1 11.380 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.380 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 11.381 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.381 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.381 * [taylor]: Taking taylor expansion of -1 in phi1 11.381 * [backup-simplify]: Simplify -1 into -1 11.381 * [taylor]: Taking taylor expansion of phi1 in phi1 11.381 * [backup-simplify]: Simplify 0 into 0 11.381 * [backup-simplify]: Simplify 1 into 1 11.381 * [backup-simplify]: Simplify (/ -1 1) into -1 11.381 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.381 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 11.381 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.381 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 11.382 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 11.382 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.382 * [taylor]: Taking taylor expansion of -1 in phi1 11.382 * [backup-simplify]: Simplify -1 into -1 11.382 * [taylor]: Taking taylor expansion of delta in phi1 11.382 * [backup-simplify]: Simplify delta into delta 11.382 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.382 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.382 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.382 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 11.382 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 11.382 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.382 * [taylor]: Taking taylor expansion of -1 in phi1 11.382 * [backup-simplify]: Simplify -1 into -1 11.382 * [taylor]: Taking taylor expansion of phi1 in phi1 11.382 * [backup-simplify]: Simplify 0 into 0 11.382 * [backup-simplify]: Simplify 1 into 1 11.382 * [backup-simplify]: Simplify (/ -1 1) into -1 11.383 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.383 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 11.383 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 11.383 * [taylor]: Taking taylor expansion of -1 in phi1 11.383 * [backup-simplify]: Simplify -1 into -1 11.383 * [taylor]: Taking taylor expansion of theta in phi1 11.383 * [backup-simplify]: Simplify theta into theta 11.383 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.383 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.383 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.383 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 11.383 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.383 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.383 * [taylor]: Taking taylor expansion of -1 in phi1 11.383 * [backup-simplify]: Simplify -1 into -1 11.383 * [taylor]: Taking taylor expansion of phi1 in phi1 11.383 * [backup-simplify]: Simplify 0 into 0 11.383 * [backup-simplify]: Simplify 1 into 1 11.384 * [backup-simplify]: Simplify (/ -1 1) into -1 11.384 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.384 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 11.384 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.384 * [taylor]: Taking taylor expansion of -1 in phi1 11.384 * [backup-simplify]: Simplify -1 into -1 11.384 * [taylor]: Taking taylor expansion of delta in phi1 11.384 * [backup-simplify]: Simplify delta into delta 11.384 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.384 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.384 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.384 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 11.384 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.384 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.384 * [taylor]: Taking taylor expansion of -1 in phi1 11.384 * [backup-simplify]: Simplify -1 into -1 11.384 * [taylor]: Taking taylor expansion of phi1 in phi1 11.384 * [backup-simplify]: Simplify 0 into 0 11.384 * [backup-simplify]: Simplify 1 into 1 11.385 * [backup-simplify]: Simplify (/ -1 1) into -1 11.385 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.385 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 11.385 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 11.385 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 11.385 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 11.385 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.385 * [taylor]: Taking taylor expansion of -1 in phi1 11.385 * [backup-simplify]: Simplify -1 into -1 11.385 * [taylor]: Taking taylor expansion of delta in phi1 11.385 * [backup-simplify]: Simplify delta into delta 11.385 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.385 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.385 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.385 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 11.385 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 11.385 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.385 * [taylor]: Taking taylor expansion of -1 in phi1 11.385 * [backup-simplify]: Simplify -1 into -1 11.385 * [taylor]: Taking taylor expansion of phi1 in phi1 11.385 * [backup-simplify]: Simplify 0 into 0 11.385 * [backup-simplify]: Simplify 1 into 1 11.386 * [backup-simplify]: Simplify (/ -1 1) into -1 11.386 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.386 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 11.386 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 11.386 * [taylor]: Taking taylor expansion of -1 in phi1 11.386 * [backup-simplify]: Simplify -1 into -1 11.386 * [taylor]: Taking taylor expansion of theta in phi1 11.386 * [backup-simplify]: Simplify theta into theta 11.386 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.386 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.386 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.386 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 11.386 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 11.386 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 11.386 * [taylor]: Taking taylor expansion of -1 in phi1 11.386 * [backup-simplify]: Simplify -1 into -1 11.387 * [taylor]: Taking taylor expansion of phi1 in phi1 11.387 * [backup-simplify]: Simplify 0 into 0 11.387 * [backup-simplify]: Simplify 1 into 1 11.387 * [backup-simplify]: Simplify (/ -1 1) into -1 11.387 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.387 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 11.387 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 11.387 * [taylor]: Taking taylor expansion of -1 in phi1 11.387 * [backup-simplify]: Simplify -1 into -1 11.387 * [taylor]: Taking taylor expansion of delta in phi1 11.387 * [backup-simplify]: Simplify delta into delta 11.387 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.387 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.387 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.388 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 11.388 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 11.388 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 11.388 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 11.388 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 11.388 * [backup-simplify]: Simplify (- 0) into 0 11.389 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 11.389 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 11.389 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 11.389 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 11.389 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 11.389 * [backup-simplify]: Simplify (- 0) into 0 11.389 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 11.390 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 11.390 * [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))))) 11.390 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 11.390 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 11.390 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.390 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.390 * [taylor]: Taking taylor expansion of -1 in delta 11.391 * [backup-simplify]: Simplify -1 into -1 11.391 * [taylor]: Taking taylor expansion of phi1 in delta 11.391 * [backup-simplify]: Simplify phi1 into phi1 11.391 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.391 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.391 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.391 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 11.391 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 11.391 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 11.391 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.391 * [taylor]: Taking taylor expansion of -1 in delta 11.391 * [backup-simplify]: Simplify -1 into -1 11.391 * [taylor]: Taking taylor expansion of phi1 in delta 11.391 * [backup-simplify]: Simplify phi1 into phi1 11.391 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.391 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.391 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.391 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 11.391 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.391 * [taylor]: Taking taylor expansion of -1 in delta 11.391 * [backup-simplify]: Simplify -1 into -1 11.391 * [taylor]: Taking taylor expansion of delta in delta 11.391 * [backup-simplify]: Simplify 0 into 0 11.391 * [backup-simplify]: Simplify 1 into 1 11.392 * [backup-simplify]: Simplify (/ -1 1) into -1 11.392 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.392 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 11.392 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 11.392 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 11.392 * [taylor]: Taking taylor expansion of -1 in delta 11.392 * [backup-simplify]: Simplify -1 into -1 11.392 * [taylor]: Taking taylor expansion of phi1 in delta 11.392 * [backup-simplify]: Simplify phi1 into phi1 11.392 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.392 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.392 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.392 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 11.392 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 11.393 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 11.393 * [taylor]: Taking taylor expansion of -1 in delta 11.393 * [backup-simplify]: Simplify -1 into -1 11.393 * [taylor]: Taking taylor expansion of theta in delta 11.393 * [backup-simplify]: Simplify theta into theta 11.393 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 11.393 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.393 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 11.393 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 11.393 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 11.393 * [taylor]: Taking taylor expansion of -1 in delta 11.393 * [backup-simplify]: Simplify -1 into -1 11.393 * [taylor]: Taking taylor expansion of delta in delta 11.393 * [backup-simplify]: Simplify 0 into 0 11.393 * [backup-simplify]: Simplify 1 into 1 11.393 * [backup-simplify]: Simplify (/ -1 1) into -1 11.394 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.394 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.394 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.394 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.394 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.394 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.394 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.394 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 11.394 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 11.394 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 11.395 * [backup-simplify]: Simplify (- 0) into 0 11.395 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 11.395 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 11.395 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 11.395 * [backup-simplify]: Simplify (- 0) into 0 11.396 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 11.396 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 11.396 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 11.396 * [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)))) 11.397 * [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))))) 11.397 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 11.397 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.397 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.397 * [taylor]: Taking taylor expansion of -1 in theta 11.397 * [backup-simplify]: Simplify -1 into -1 11.397 * [taylor]: Taking taylor expansion of phi1 in theta 11.397 * [backup-simplify]: Simplify phi1 into phi1 11.397 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.397 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.397 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.397 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 11.397 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 11.397 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 11.397 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.397 * [taylor]: Taking taylor expansion of -1 in theta 11.397 * [backup-simplify]: Simplify -1 into -1 11.397 * [taylor]: Taking taylor expansion of phi1 in theta 11.397 * [backup-simplify]: Simplify phi1 into phi1 11.397 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.397 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.397 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.397 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 11.397 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 11.397 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.398 * [taylor]: Taking taylor expansion of -1 in theta 11.398 * [backup-simplify]: Simplify -1 into -1 11.398 * [taylor]: Taking taylor expansion of delta in theta 11.398 * [backup-simplify]: Simplify delta into delta 11.398 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.398 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.398 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.398 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 11.398 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 11.398 * [taylor]: Taking taylor expansion of -1 in theta 11.398 * [backup-simplify]: Simplify -1 into -1 11.398 * [taylor]: Taking taylor expansion of theta in theta 11.398 * [backup-simplify]: Simplify 0 into 0 11.398 * [backup-simplify]: Simplify 1 into 1 11.399 * [backup-simplify]: Simplify (/ -1 1) into -1 11.399 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 11.399 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 11.399 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 11.399 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 11.399 * [taylor]: Taking taylor expansion of -1 in theta 11.399 * [backup-simplify]: Simplify -1 into -1 11.399 * [taylor]: Taking taylor expansion of phi1 in theta 11.399 * [backup-simplify]: Simplify phi1 into phi1 11.399 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 11.399 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 11.399 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 11.399 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 11.399 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 11.399 * [taylor]: Taking taylor expansion of -1 in theta 11.399 * [backup-simplify]: Simplify -1 into -1 11.399 * [taylor]: Taking taylor expansion of delta in theta 11.399 * [backup-simplify]: Simplify delta into delta 11.399 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 11.399 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 11.399 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 11.400 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.400 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.400 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.400 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 11.400 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 11.400 * [backup-simplify]: Simplify (- 0) into 0 11.401 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 11.401 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 11.401 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 11.401 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 11.401 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 11.401 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 11.402 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 11.402 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 11.402 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 11.402 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 11.402 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 11.402 * [backup-simplify]: Simplify (- 0) into 0 11.402 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 11.403 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 11.403 * [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))))) 11.403 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 11.404 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 11.404 * [backup-simplify]: Simplify (+ 0) into 0 11.405 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 11.405 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 11.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.406 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 11.407 * [backup-simplify]: Simplify (- 0) into 0 11.407 * [backup-simplify]: Simplify (+ 0 0) into 0 11.407 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 11.407 * [backup-simplify]: Simplify (+ 0) into 0 11.408 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 11.408 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.409 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 11.410 * [backup-simplify]: Simplify (+ 0 0) into 0 11.410 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 11.410 * [backup-simplify]: Simplify (+ 0) into 0 11.411 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 11.411 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.412 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 11.413 * [backup-simplify]: Simplify (- 0) into 0 11.413 * [backup-simplify]: Simplify (+ 0 0) into 0 11.413 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 11.414 * [backup-simplify]: Simplify (+ 0 0) into 0 11.414 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 11.414 * [taylor]: Taking taylor expansion of 0 in delta 11.414 * [backup-simplify]: Simplify 0 into 0 11.414 * [taylor]: Taking taylor expansion of 0 in theta 11.414 * [backup-simplify]: Simplify 0 into 0 11.414 * [backup-simplify]: Simplify 0 into 0 11.415 * [backup-simplify]: Simplify (+ 0) into 0 11.415 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.417 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.417 * [backup-simplify]: Simplify (+ 0 0) into 0 11.417 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 11.418 * [backup-simplify]: Simplify (+ 0) into 0 11.418 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 11.418 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 11.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.419 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 11.420 * [backup-simplify]: Simplify (- 0) into 0 11.420 * [backup-simplify]: Simplify (+ 0 0) into 0 11.420 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 11.421 * [backup-simplify]: Simplify (+ 0) into 0 11.421 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 11.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.423 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 11.423 * [backup-simplify]: Simplify (- 0) into 0 11.423 * [backup-simplify]: Simplify (+ 0 0) into 0 11.424 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 11.424 * [backup-simplify]: Simplify (+ 0 0) into 0 11.424 * [backup-simplify]: Simplify (+ 0) into 0 11.425 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.425 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.426 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.427 * [backup-simplify]: Simplify (+ 0 0) into 0 11.427 * [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 11.427 * [taylor]: Taking taylor expansion of 0 in theta 11.427 * [backup-simplify]: Simplify 0 into 0 11.427 * [backup-simplify]: Simplify 0 into 0 11.428 * [backup-simplify]: Simplify (+ 0) into 0 11.428 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 11.428 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.429 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 11.430 * [backup-simplify]: Simplify (+ 0 0) into 0 11.430 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 11.430 * [backup-simplify]: Simplify (+ 0) into 0 11.431 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 11.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.433 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 11.433 * [backup-simplify]: Simplify (- 0) into 0 11.433 * [backup-simplify]: Simplify (+ 0 0) into 0 11.434 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 11.434 * [backup-simplify]: Simplify (+ 0) into 0 11.435 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 11.435 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 11.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.436 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 11.437 * [backup-simplify]: Simplify (- 0) into 0 11.437 * [backup-simplify]: Simplify (+ 0 0) into 0 11.437 * [backup-simplify]: Simplify (+ 0) into 0 11.438 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.439 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.439 * [backup-simplify]: Simplify (+ 0 0) into 0 11.440 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 11.440 * [backup-simplify]: Simplify (+ 0 0) into 0 11.440 * [backup-simplify]: Simplify (+ 0) into 0 11.441 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 11.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 11.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 11.442 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 11.443 * [backup-simplify]: Simplify (+ 0 0) into 0 11.443 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 11.443 * [backup-simplify]: Simplify 0 into 0 11.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.450 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.450 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.452 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.452 * [backup-simplify]: Simplify (- 0) into 0 11.453 * [backup-simplify]: Simplify (+ 0 0) into 0 11.453 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 11.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.455 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.455 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.456 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.457 * [backup-simplify]: Simplify (+ 0 0) into 0 11.457 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 11.458 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.459 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.459 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 11.460 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.461 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.461 * [backup-simplify]: Simplify (- 0) into 0 11.462 * [backup-simplify]: Simplify (+ 0 0) into 0 11.462 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 11.463 * [backup-simplify]: Simplify (+ 0 0) into 0 11.463 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 11.463 * [taylor]: Taking taylor expansion of 0 in delta 11.463 * [backup-simplify]: Simplify 0 into 0 11.463 * [taylor]: Taking taylor expansion of 0 in theta 11.464 * [backup-simplify]: Simplify 0 into 0 11.464 * [backup-simplify]: Simplify 0 into 0 11.464 * [taylor]: Taking taylor expansion of 0 in theta 11.464 * [backup-simplify]: Simplify 0 into 0 11.464 * [backup-simplify]: Simplify 0 into 0 11.465 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.465 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.467 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.468 * [backup-simplify]: Simplify (+ 0 0) into 0 11.468 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 11.469 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.470 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 11.470 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 11.471 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.472 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 11.472 * [backup-simplify]: Simplify (- 0) into 0 11.473 * [backup-simplify]: Simplify (+ 0 0) into 0 11.473 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 11.474 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.475 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.476 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.477 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.477 * [backup-simplify]: Simplify (- 0) into 0 11.477 * [backup-simplify]: Simplify (+ 0 0) into 0 11.478 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 11.478 * [backup-simplify]: Simplify (+ 0 0) into 0 11.479 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 11.480 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 11.480 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 11.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 11.482 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 11.482 * [backup-simplify]: Simplify (+ 0 0) into 0 11.483 * [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 11.483 * [taylor]: Taking taylor expansion of 0 in theta 11.483 * [backup-simplify]: Simplify 0 into 0 11.483 * [backup-simplify]: Simplify 0 into 0 11.484 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) (* (cos (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 11.484 * * * [progress]: simplifying candidates 11.484 * * * * [progress]: [ 1 / 76 ] simplifiying candidate # 11.484 * * * * [progress]: [ 2 / 76 ] simplifiying candidate # 11.484 * * * * [progress]: [ 3 / 76 ] simplifiying candidate # 11.484 * * * * [progress]: [ 4 / 76 ] simplifiying candidate # 11.484 * * * * [progress]: [ 5 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 6 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 7 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 8 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 9 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 10 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 11 / 76 ] simplifiying candidate #real (real->posit16 (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))))) lambda1))> 11.485 * * * * [progress]: [ 12 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 13 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 14 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 15 / 76 ] simplifiying candidate # 11.485 * * * * [progress]: [ 16 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 17 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 18 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 19 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 20 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 21 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 22 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 23 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 24 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 25 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 26 / 76 ] simplifiying candidate # 11.486 * * * * [progress]: [ 27 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 28 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 29 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 30 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 31 / 76 ] simplifiying candidate #real (real->posit16 (log (exp (+ (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))))) lambda1))> 11.487 * * * * [progress]: [ 32 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 33 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 34 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 35 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 36 / 76 ] simplifiying candidate # 11.487 * * * * [progress]: [ 37 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 38 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 39 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 40 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 41 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 42 / 76 ] simplifiying candidate #real (real->posit16 (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) lambda1))> 11.488 * * * * [progress]: [ 43 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 44 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 45 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 46 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 47 / 76 ] simplifiying candidate # 11.488 * * * * [progress]: [ 48 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 49 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 50 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 51 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 52 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 53 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 54 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 55 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 56 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 57 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 58 / 76 ] simplifiying candidate # 11.489 * * * * [progress]: [ 59 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 60 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 61 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 62 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 63 / 76 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))))) lambda1))> 11.490 * * * * [progress]: [ 64 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 65 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 66 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 67 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 68 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 69 / 76 ] simplifiying candidate # 11.490 * * * * [progress]: [ 70 / 76 ] simplifiying candidate # 11.491 * * * * [progress]: [ 71 / 76 ] simplifiying candidate # 11.491 * * * * [progress]: [ 72 / 76 ] simplifiying candidate # 11.491 * * * * [progress]: [ 73 / 76 ] simplifiying candidate # 11.491 * * * * [progress]: [ 74 / 76 ] simplifiying candidate # 11.491 * * * * [progress]: [ 75 / 76 ] simplifiying candidate # 11.491 * * * * [progress]: [ 76 / 76 ] simplifiying candidate # 11.493 * [simplify]: Simplifying: (expm1 (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (log1p (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (* (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (log (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (exp (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (* (cbrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (cbrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (cbrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (* (* (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (sqrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (sqrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (real->posit16 (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (expm1 (log (exp (+ (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) (log1p (log (exp (+ (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) (log (exp (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (log (exp (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* 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(+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 11.500 * * [simplify]: iteration 1: (141 enodes) 11.557 * * [simplify]: iteration 2: (278 enodes) 11.688 * * [simplify]: iteration 3: (722 enodes) 12.108 * * [simplify]: iteration 4: (1977 enodes) 23.683 * * [simplify]: Extracting #0: cost 52 inf + 0 23.689 * * [simplify]: Extracting #1: cost 310 inf + 164 23.697 * * [simplify]: Extracting #2: cost 1217 inf + 2753 23.720 * * [simplify]: Extracting #3: cost 1154 inf + 39972 23.769 * * [simplify]: Extracting #4: cost 945 inf + 138969 23.877 * * [simplify]: Extracting #5: cost 332 inf + 607643 24.133 * * [simplify]: Extracting #6: cost 14 inf + 872751 24.411 * * [simplify]: Extracting #7: cost 0 inf + 885559 24.684 * [simplify]: Simplified to: (expm1 0) (log1p 0) (* (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) (- (sin phi1))) (log 0) 1 0 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(sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))))) 0 (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0)) (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0)) (* (cbrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (cbrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0)))) (sqrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) 1 1 (log (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (exp (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (* (cbrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (cbrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0)))) (cbrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (* (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0)) (* (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0)) (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0)))) (sqrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (sqrt (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (real->posit16 (- (cos delta) (fma (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) 0))) (expm1 (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (log1p (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (cos delta) (log (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (* (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (* (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (expm1 (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (log1p (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (- (cos (- phi1 (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (cos (+ (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))) phi1))) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (log (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (log (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (exp (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (* (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (* (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (* (cbrt (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (cbrt (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (cbrt (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (* (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (* (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))))) (sqrt (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (sqrt (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (* (sqrt (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (sqrt (sin phi1))) (* (sqrt (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (sqrt (sin phi1))) (* (* (cbrt (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (cbrt (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) (sin phi1)) (* (sqrt (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (sin phi1)) (sin phi1) (* (cbrt (sin phi1)) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (* (sqrt (sin phi1)) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))))) (real->posit16 (* (sin phi1) (sin (asin (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))))) 0 0 0 (- 1 (* delta (fma 1/2 delta phi1))) (- (cos delta) (* (sin phi1) (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) (- (cos delta) (* (sin phi1) (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) (- 1 (* delta (fma 1/2 delta phi1))) (- (cos delta) (* (sin phi1) (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) (- (cos delta) (* (sin phi1) (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta))))) (* (+ delta phi1) phi1) (* (sin phi1) (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (* (cos theta) (cos phi1)) (sin delta) (* (sin phi1) (cos delta)))) 24.703 * * * [progress]: adding candidates to table 26.669 * * [progress]: iteration 4 / 4 26.669 * * * [progress]: picking best candidate 26.853 * * * * [pick]: Picked # 26.854 * * * [progress]: localizing error 27.037 * * * [progress]: generating rewritten candidates 27.037 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2 1 1 2) 27.037 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2) 27.055 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 1 1 1 1 2) 27.056 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 1 1 1 1 1 2) 27.056 * * * [progress]: generating series expansions 27.056 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2 1 1 2) 27.057 * [backup-simplify]: Simplify (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) into (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.057 * [approximate]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in (phi1 delta theta) around 0 27.057 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 27.057 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.057 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 27.057 * [taylor]: Taking taylor expansion of (- (sin phi1)) in theta 27.057 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.057 * [taylor]: Taking taylor expansion of phi1 in theta 27.057 * [backup-simplify]: Simplify phi1 into phi1 27.057 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.057 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.057 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 27.057 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.057 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 27.057 * [taylor]: Taking taylor expansion of (sin delta) in theta 27.057 * [taylor]: Taking taylor expansion of delta in theta 27.057 * [backup-simplify]: Simplify delta into delta 27.057 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.057 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.057 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 27.057 * [taylor]: Taking taylor expansion of (cos phi1) in theta 27.057 * [taylor]: Taking taylor expansion of phi1 in theta 27.057 * [backup-simplify]: Simplify phi1 into phi1 27.057 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.057 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.057 * [taylor]: Taking taylor expansion of (cos theta) in theta 27.057 * [taylor]: Taking taylor expansion of theta in theta 27.057 * [backup-simplify]: Simplify 0 into 0 27.057 * [backup-simplify]: Simplify 1 into 1 27.057 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 27.057 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.057 * [taylor]: Taking taylor expansion of phi1 in theta 27.057 * [backup-simplify]: Simplify phi1 into phi1 27.057 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.057 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.057 * [taylor]: Taking taylor expansion of (cos delta) in theta 27.057 * [taylor]: Taking taylor expansion of delta in theta 27.057 * [backup-simplify]: Simplify delta into delta 27.057 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.057 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.057 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 27.058 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.058 * [taylor]: Taking taylor expansion of phi1 in theta 27.058 * [backup-simplify]: Simplify phi1 into phi1 27.058 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.058 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.058 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 27.058 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.058 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 27.058 * [taylor]: Taking taylor expansion of (sin delta) in theta 27.058 * [taylor]: Taking taylor expansion of delta in theta 27.058 * [backup-simplify]: Simplify delta into delta 27.058 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.058 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.058 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 27.058 * [taylor]: Taking taylor expansion of (cos phi1) in theta 27.058 * [taylor]: Taking taylor expansion of phi1 in theta 27.058 * [backup-simplify]: Simplify phi1 into phi1 27.058 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.058 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.058 * [taylor]: Taking taylor expansion of (cos theta) in theta 27.058 * [taylor]: Taking taylor expansion of theta in theta 27.058 * [backup-simplify]: Simplify 0 into 0 27.058 * [backup-simplify]: Simplify 1 into 1 27.058 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 27.058 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.058 * [taylor]: Taking taylor expansion of phi1 in theta 27.058 * [backup-simplify]: Simplify phi1 into phi1 27.058 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.058 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.058 * [taylor]: Taking taylor expansion of (cos delta) in theta 27.058 * [taylor]: Taking taylor expansion of delta in theta 27.058 * [backup-simplify]: Simplify delta into delta 27.058 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.058 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.058 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 27.058 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.058 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.058 * [taylor]: Taking taylor expansion of (- (sin phi1)) in delta 27.058 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.058 * [taylor]: Taking taylor expansion of phi1 in delta 27.058 * [backup-simplify]: Simplify phi1 into phi1 27.058 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.058 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.058 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.058 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.058 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.058 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.058 * [taylor]: Taking taylor expansion of delta in delta 27.058 * [backup-simplify]: Simplify 0 into 0 27.058 * [backup-simplify]: Simplify 1 into 1 27.058 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.059 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.059 * [taylor]: Taking taylor expansion of phi1 in delta 27.059 * [backup-simplify]: Simplify phi1 into phi1 27.059 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.059 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.059 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.059 * [taylor]: Taking taylor expansion of theta in delta 27.059 * [backup-simplify]: Simplify theta into theta 27.059 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.059 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.059 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.059 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.059 * [taylor]: Taking taylor expansion of phi1 in delta 27.059 * [backup-simplify]: Simplify phi1 into phi1 27.059 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.059 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.059 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.059 * [taylor]: Taking taylor expansion of delta in delta 27.059 * [backup-simplify]: Simplify 0 into 0 27.059 * [backup-simplify]: Simplify 1 into 1 27.059 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.059 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.059 * [taylor]: Taking taylor expansion of phi1 in delta 27.059 * [backup-simplify]: Simplify phi1 into phi1 27.059 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.059 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.059 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.059 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.059 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.059 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.059 * [taylor]: Taking taylor expansion of delta in delta 27.059 * [backup-simplify]: Simplify 0 into 0 27.059 * [backup-simplify]: Simplify 1 into 1 27.059 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.059 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.059 * [taylor]: Taking taylor expansion of phi1 in delta 27.059 * [backup-simplify]: Simplify phi1 into phi1 27.059 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.059 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.059 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.059 * [taylor]: Taking taylor expansion of theta in delta 27.059 * [backup-simplify]: Simplify theta into theta 27.059 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.059 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.059 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.059 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.059 * [taylor]: Taking taylor expansion of phi1 in delta 27.059 * [backup-simplify]: Simplify phi1 into phi1 27.059 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.059 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.059 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.059 * [taylor]: Taking taylor expansion of delta in delta 27.059 * [backup-simplify]: Simplify 0 into 0 27.059 * [backup-simplify]: Simplify 1 into 1 27.060 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 27.060 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.060 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 27.060 * [taylor]: Taking taylor expansion of (- (sin phi1)) in phi1 27.060 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.060 * [taylor]: Taking taylor expansion of phi1 in phi1 27.060 * [backup-simplify]: Simplify 0 into 0 27.060 * [backup-simplify]: Simplify 1 into 1 27.060 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 27.060 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.060 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 27.060 * [taylor]: Taking taylor expansion of (sin delta) in phi1 27.060 * [taylor]: Taking taylor expansion of delta in phi1 27.060 * [backup-simplify]: Simplify delta into delta 27.060 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.060 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.060 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.060 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.060 * [taylor]: Taking taylor expansion of phi1 in phi1 27.060 * [backup-simplify]: Simplify 0 into 0 27.060 * [backup-simplify]: Simplify 1 into 1 27.060 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.060 * [taylor]: Taking taylor expansion of theta in phi1 27.060 * [backup-simplify]: Simplify theta into theta 27.060 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.060 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.060 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 27.060 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.060 * [taylor]: Taking taylor expansion of phi1 in phi1 27.060 * [backup-simplify]: Simplify 0 into 0 27.060 * [backup-simplify]: Simplify 1 into 1 27.060 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.060 * [taylor]: Taking taylor expansion of delta in phi1 27.060 * [backup-simplify]: Simplify delta into delta 27.060 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.060 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.060 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 27.060 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.060 * [taylor]: Taking taylor expansion of phi1 in phi1 27.060 * [backup-simplify]: Simplify 0 into 0 27.060 * [backup-simplify]: Simplify 1 into 1 27.060 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 27.060 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.060 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 27.060 * [taylor]: Taking taylor expansion of (sin delta) in phi1 27.060 * [taylor]: Taking taylor expansion of delta in phi1 27.060 * [backup-simplify]: Simplify delta into delta 27.060 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.060 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.060 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.060 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.061 * [taylor]: Taking taylor expansion of phi1 in phi1 27.061 * [backup-simplify]: Simplify 0 into 0 27.061 * [backup-simplify]: Simplify 1 into 1 27.061 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.061 * [taylor]: Taking taylor expansion of theta in phi1 27.061 * [backup-simplify]: Simplify theta into theta 27.061 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.061 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.061 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 27.061 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.061 * [taylor]: Taking taylor expansion of phi1 in phi1 27.061 * [backup-simplify]: Simplify 0 into 0 27.061 * [backup-simplify]: Simplify 1 into 1 27.061 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.061 * [taylor]: Taking taylor expansion of delta in phi1 27.061 * [backup-simplify]: Simplify delta into delta 27.061 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.061 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.061 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 27.061 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.061 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 27.061 * [taylor]: Taking taylor expansion of (- (sin phi1)) in phi1 27.061 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.061 * [taylor]: Taking taylor expansion of phi1 in phi1 27.061 * [backup-simplify]: Simplify 0 into 0 27.061 * [backup-simplify]: Simplify 1 into 1 27.061 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 27.061 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.061 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 27.061 * [taylor]: Taking taylor expansion of (sin delta) in phi1 27.061 * [taylor]: Taking taylor expansion of delta in phi1 27.061 * [backup-simplify]: Simplify delta into delta 27.061 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.061 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.061 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.061 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.061 * [taylor]: Taking taylor expansion of phi1 in phi1 27.061 * [backup-simplify]: Simplify 0 into 0 27.061 * [backup-simplify]: Simplify 1 into 1 27.061 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.061 * [taylor]: Taking taylor expansion of theta in phi1 27.061 * [backup-simplify]: Simplify theta into theta 27.061 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.061 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.061 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 27.061 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.061 * [taylor]: Taking taylor expansion of phi1 in phi1 27.061 * [backup-simplify]: Simplify 0 into 0 27.061 * [backup-simplify]: Simplify 1 into 1 27.061 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.062 * [taylor]: Taking taylor expansion of delta in phi1 27.062 * [backup-simplify]: Simplify delta into delta 27.062 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.062 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.062 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 27.062 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.062 * [taylor]: Taking taylor expansion of phi1 in phi1 27.062 * [backup-simplify]: Simplify 0 into 0 27.062 * [backup-simplify]: Simplify 1 into 1 27.062 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 27.062 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.062 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 27.062 * [taylor]: Taking taylor expansion of (sin delta) in phi1 27.062 * [taylor]: Taking taylor expansion of delta in phi1 27.062 * [backup-simplify]: Simplify delta into delta 27.062 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.062 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.062 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.062 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.062 * [taylor]: Taking taylor expansion of phi1 in phi1 27.062 * [backup-simplify]: Simplify 0 into 0 27.062 * [backup-simplify]: Simplify 1 into 1 27.062 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.062 * [taylor]: Taking taylor expansion of theta in phi1 27.062 * [backup-simplify]: Simplify theta into theta 27.062 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.062 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.062 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 27.062 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.062 * [taylor]: Taking taylor expansion of phi1 in phi1 27.062 * [backup-simplify]: Simplify 0 into 0 27.062 * [backup-simplify]: Simplify 1 into 1 27.062 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.062 * [taylor]: Taking taylor expansion of delta in phi1 27.062 * [backup-simplify]: Simplify delta into delta 27.062 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.062 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.064 * [backup-simplify]: Simplify (- 0) into 0 27.064 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 27.064 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 27.064 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 27.064 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 27.064 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 27.064 * [backup-simplify]: Simplify (- 0) into 0 27.064 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 27.064 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 27.064 * [backup-simplify]: Simplify (* (sin delta) (cos theta)) into (* (sin delta) (cos theta)) 27.064 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 27.064 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 27.065 * [backup-simplify]: Simplify (- 0) into 0 27.065 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 27.065 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 27.065 * [backup-simplify]: Simplify (+ (* (sin delta) (cos theta)) 0) into (* (sin delta) (cos theta)) 27.065 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 27.065 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 27.065 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 27.065 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 27.065 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 27.065 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 27.065 * [backup-simplify]: Simplify (- 0) into 0 27.066 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 27.066 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 27.066 * [backup-simplify]: Simplify (* (sin delta) (cos theta)) into (* (sin delta) (cos theta)) 27.066 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 27.066 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 27.066 * [backup-simplify]: Simplify (- 0) into 0 27.066 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 27.066 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 27.066 * [backup-simplify]: Simplify (+ (* (sin delta) (cos theta)) 0) into (* (sin delta) (cos theta)) 27.066 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 27.066 * [backup-simplify]: Simplify (+ 0 0) into 0 27.066 * [taylor]: Taking taylor expansion of 0 in delta 27.066 * [backup-simplify]: Simplify 0 into 0 27.066 * [taylor]: Taking taylor expansion of 0 in theta 27.067 * [backup-simplify]: Simplify 0 into 0 27.067 * [backup-simplify]: Simplify 0 into 0 27.067 * [backup-simplify]: Simplify (- 0) into 0 27.067 * [backup-simplify]: Simplify (+ 0) into 0 27.068 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 27.068 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.068 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 27.069 * [backup-simplify]: Simplify (- 0) into 0 27.069 * [backup-simplify]: Simplify (+ 0 0) into 0 27.069 * [backup-simplify]: Simplify (+ 0) into 0 27.070 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 27.070 * [backup-simplify]: Simplify (+ 0) into 0 27.070 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 27.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.071 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 27.071 * [backup-simplify]: Simplify (+ 0 0) into 0 27.071 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 (cos theta))) into 0 27.071 * [backup-simplify]: Simplify (+ 0) into 0 27.072 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 27.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.073 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 27.073 * [backup-simplify]: Simplify (- 0) into 0 27.073 * [backup-simplify]: Simplify (+ 0 0) into 0 27.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.074 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 27.074 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 27.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.075 * [backup-simplify]: Simplify (- 1) into -1 27.075 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* -1 (* (sin delta) (cos theta)))) into (- (* (sin delta) (cos theta))) 27.075 * [backup-simplify]: Simplify (+ 0) into 0 27.075 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 27.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.076 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 27.076 * [backup-simplify]: Simplify (- 0) into 0 27.076 * [backup-simplify]: Simplify (+ 0 0) into 0 27.077 * [backup-simplify]: Simplify (+ 0) into 0 27.077 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 27.077 * [backup-simplify]: Simplify (+ 0) into 0 27.078 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 27.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.078 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 27.079 * [backup-simplify]: Simplify (+ 0 0) into 0 27.079 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 (cos theta))) into 0 27.079 * [backup-simplify]: Simplify (+ 0) into 0 27.079 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 27.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.080 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 27.080 * [backup-simplify]: Simplify (- 0) into 0 27.081 * [backup-simplify]: Simplify (+ 0 0) into 0 27.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.082 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 27.082 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 27.082 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.082 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (sin delta) (cos theta)))) into (* (sin delta) (cos theta)) 27.082 * [backup-simplify]: Simplify (+ (- (* (sin delta) (cos theta))) (* (sin delta) (cos theta))) into 0 27.082 * [taylor]: Taking taylor expansion of 0 in delta 27.082 * [backup-simplify]: Simplify 0 into 0 27.082 * [taylor]: Taking taylor expansion of 0 in theta 27.082 * [backup-simplify]: Simplify 0 into 0 27.082 * [backup-simplify]: Simplify 0 into 0 27.082 * [taylor]: Taking taylor expansion of 0 in theta 27.082 * [backup-simplify]: Simplify 0 into 0 27.082 * [backup-simplify]: Simplify 0 into 0 27.082 * [backup-simplify]: Simplify 0 into 0 27.083 * [backup-simplify]: Simplify (- 0) into 0 27.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.084 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 27.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.085 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 27.085 * [backup-simplify]: Simplify (- 0) into 0 27.085 * [backup-simplify]: Simplify (+ 0 0) into 0 27.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 27.086 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (cos theta)))) into (- (* 1/2 (cos theta))) 27.087 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.087 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 27.088 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.088 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 27.088 * [backup-simplify]: Simplify (+ 0 0) into 0 27.089 * [backup-simplify]: Simplify (+ (* (sin delta) (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta)))) into (- (* 1/2 (* (sin delta) (cos theta)))) 27.090 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.090 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 27.091 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.092 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 27.092 * [backup-simplify]: Simplify (- 0) into 0 27.092 * [backup-simplify]: Simplify (+ 0 0) into 0 27.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.094 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 27.094 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (sin delta) (cos theta)))) 0) into (- (* 1/2 (* (sin delta) (cos theta)))) 27.094 * [backup-simplify]: Simplify (- 1) into -1 27.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.095 * [backup-simplify]: Simplify (- 0) into 0 27.096 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* -1 (cos delta)) (* 0 (* (sin delta) (cos theta))))) into (- (cos delta)) 27.097 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.097 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 27.098 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.098 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 27.099 * [backup-simplify]: Simplify (- 0) into 0 27.099 * [backup-simplify]: Simplify (+ 0 0) into 0 27.100 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 27.101 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (cos theta)))) into (- (* 1/2 (cos theta))) 27.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.103 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 27.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.104 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 27.104 * [backup-simplify]: Simplify (+ 0 0) into 0 27.105 * [backup-simplify]: Simplify (+ (* (sin delta) (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta)))) into (- (* 1/2 (* (sin delta) (cos theta)))) 27.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.108 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 27.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.109 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 27.109 * [backup-simplify]: Simplify (- 0) into 0 27.110 * [backup-simplify]: Simplify (+ 0 0) into 0 27.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.112 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 27.112 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (sin delta) (cos theta)))) 0) into (- (* 1/2 (* (sin delta) (cos theta)))) 27.113 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.113 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 1 (cos delta)) (* 0 (* (sin delta) (cos theta))))) into (cos delta) 27.113 * [backup-simplify]: Simplify (+ (- (cos delta)) (cos delta)) into 0 27.113 * [taylor]: Taking taylor expansion of 0 in delta 27.113 * [backup-simplify]: Simplify 0 into 0 27.113 * [taylor]: Taking taylor expansion of 0 in theta 27.113 * [backup-simplify]: Simplify 0 into 0 27.113 * [backup-simplify]: Simplify 0 into 0 27.113 * [taylor]: Taking taylor expansion of 0 in theta 27.113 * [backup-simplify]: Simplify 0 into 0 27.113 * [backup-simplify]: Simplify 0 into 0 27.113 * [backup-simplify]: Simplify 0 into 0 27.114 * [backup-simplify]: Simplify (fma (- (sin (/ 1 phi1))) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))) (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))))) into (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.114 * [approximate]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in (phi1 delta theta) around 0 27.114 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in theta 27.114 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.114 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 27.114 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in theta 27.114 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.115 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.115 * [taylor]: Taking taylor expansion of phi1 in theta 27.115 * [backup-simplify]: Simplify phi1 into phi1 27.115 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.115 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.115 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.115 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 27.115 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.115 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 27.115 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.115 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.115 * [taylor]: Taking taylor expansion of delta in theta 27.115 * [backup-simplify]: Simplify delta into delta 27.115 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.115 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.115 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.115 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 27.115 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.115 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.115 * [taylor]: Taking taylor expansion of theta in theta 27.115 * [backup-simplify]: Simplify 0 into 0 27.115 * [backup-simplify]: Simplify 1 into 1 27.116 * [backup-simplify]: Simplify (/ 1 1) into 1 27.116 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.116 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.116 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.116 * [taylor]: Taking taylor expansion of phi1 in theta 27.116 * [backup-simplify]: Simplify phi1 into phi1 27.116 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.116 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.116 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.116 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 27.116 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.116 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.116 * [taylor]: Taking taylor expansion of delta in theta 27.116 * [backup-simplify]: Simplify delta into delta 27.116 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.116 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.117 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.117 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.117 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.117 * [taylor]: Taking taylor expansion of phi1 in theta 27.117 * [backup-simplify]: Simplify phi1 into phi1 27.117 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.117 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.117 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.117 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 27.117 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 27.117 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.117 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 27.117 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.117 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.117 * [taylor]: Taking taylor expansion of delta in theta 27.117 * [backup-simplify]: Simplify delta into delta 27.117 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.117 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.117 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.117 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 27.117 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.117 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.117 * [taylor]: Taking taylor expansion of theta in theta 27.117 * [backup-simplify]: Simplify 0 into 0 27.117 * [backup-simplify]: Simplify 1 into 1 27.118 * [backup-simplify]: Simplify (/ 1 1) into 1 27.118 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.118 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.118 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.118 * [taylor]: Taking taylor expansion of phi1 in theta 27.118 * [backup-simplify]: Simplify phi1 into phi1 27.118 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.118 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.118 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.118 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 27.118 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.118 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.118 * [taylor]: Taking taylor expansion of delta in theta 27.118 * [backup-simplify]: Simplify delta into delta 27.118 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.119 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.119 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.119 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.119 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.119 * [taylor]: Taking taylor expansion of phi1 in theta 27.119 * [backup-simplify]: Simplify phi1 into phi1 27.119 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.119 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.119 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.119 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.119 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.119 * [taylor]: Taking taylor expansion of phi1 in theta 27.119 * [backup-simplify]: Simplify phi1 into phi1 27.119 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.119 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.119 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.119 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 27.119 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.119 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 27.119 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in delta 27.119 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.119 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.119 * [taylor]: Taking taylor expansion of phi1 in delta 27.119 * [backup-simplify]: Simplify phi1 into phi1 27.119 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.120 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.120 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.120 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.120 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.120 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.120 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.120 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.120 * [taylor]: Taking taylor expansion of delta in delta 27.120 * [backup-simplify]: Simplify 0 into 0 27.120 * [backup-simplify]: Simplify 1 into 1 27.120 * [backup-simplify]: Simplify (/ 1 1) into 1 27.120 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.121 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.121 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.121 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.121 * [taylor]: Taking taylor expansion of theta in delta 27.121 * [backup-simplify]: Simplify theta into theta 27.121 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.121 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.121 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.121 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.121 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.121 * [taylor]: Taking taylor expansion of phi1 in delta 27.121 * [backup-simplify]: Simplify phi1 into phi1 27.121 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.121 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.121 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.121 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.121 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.121 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.121 * [taylor]: Taking taylor expansion of delta in delta 27.121 * [backup-simplify]: Simplify 0 into 0 27.121 * [backup-simplify]: Simplify 1 into 1 27.122 * [backup-simplify]: Simplify (/ 1 1) into 1 27.122 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.122 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.122 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.122 * [taylor]: Taking taylor expansion of phi1 in delta 27.122 * [backup-simplify]: Simplify phi1 into phi1 27.122 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.122 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.122 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.122 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 27.122 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.122 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.122 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.122 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.122 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.122 * [taylor]: Taking taylor expansion of delta in delta 27.122 * [backup-simplify]: Simplify 0 into 0 27.122 * [backup-simplify]: Simplify 1 into 1 27.123 * [backup-simplify]: Simplify (/ 1 1) into 1 27.123 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.123 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.123 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.123 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.123 * [taylor]: Taking taylor expansion of theta in delta 27.123 * [backup-simplify]: Simplify theta into theta 27.123 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.123 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.123 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.123 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.123 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.123 * [taylor]: Taking taylor expansion of phi1 in delta 27.123 * [backup-simplify]: Simplify phi1 into phi1 27.123 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.123 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.124 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.124 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.124 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.124 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.124 * [taylor]: Taking taylor expansion of delta in delta 27.124 * [backup-simplify]: Simplify 0 into 0 27.124 * [backup-simplify]: Simplify 1 into 1 27.124 * [backup-simplify]: Simplify (/ 1 1) into 1 27.124 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.124 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.124 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.124 * [taylor]: Taking taylor expansion of phi1 in delta 27.124 * [backup-simplify]: Simplify phi1 into phi1 27.125 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.125 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.125 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.125 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.125 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.125 * [taylor]: Taking taylor expansion of phi1 in delta 27.125 * [backup-simplify]: Simplify phi1 into phi1 27.125 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.125 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.125 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.125 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 27.125 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.125 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 27.125 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in phi1 27.125 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.125 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.125 * [taylor]: Taking taylor expansion of phi1 in phi1 27.125 * [backup-simplify]: Simplify 0 into 0 27.125 * [backup-simplify]: Simplify 1 into 1 27.126 * [backup-simplify]: Simplify (/ 1 1) into 1 27.126 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.126 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 27.126 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.126 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.126 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.126 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.126 * [taylor]: Taking taylor expansion of delta in phi1 27.126 * [backup-simplify]: Simplify delta into delta 27.126 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.126 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.126 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.126 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.126 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.126 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.126 * [taylor]: Taking taylor expansion of theta in phi1 27.126 * [backup-simplify]: Simplify theta into theta 27.126 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.127 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.127 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.127 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.127 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.127 * [taylor]: Taking taylor expansion of phi1 in phi1 27.127 * [backup-simplify]: Simplify 0 into 0 27.127 * [backup-simplify]: Simplify 1 into 1 27.127 * [backup-simplify]: Simplify (/ 1 1) into 1 27.127 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.127 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 27.127 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.127 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.127 * [taylor]: Taking taylor expansion of delta in phi1 27.127 * [backup-simplify]: Simplify delta into delta 27.127 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.128 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.128 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.128 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.128 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.128 * [taylor]: Taking taylor expansion of phi1 in phi1 27.128 * [backup-simplify]: Simplify 0 into 0 27.128 * [backup-simplify]: Simplify 1 into 1 27.128 * [backup-simplify]: Simplify (/ 1 1) into 1 27.128 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.128 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 27.128 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 27.128 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.128 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.128 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.128 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.128 * [taylor]: Taking taylor expansion of delta in phi1 27.128 * [backup-simplify]: Simplify delta into delta 27.129 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.129 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.129 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.129 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.129 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.129 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.129 * [taylor]: Taking taylor expansion of theta in phi1 27.129 * [backup-simplify]: Simplify theta into theta 27.129 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.129 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.129 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.129 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.129 * [taylor]: Taking taylor expansion of phi1 in phi1 27.129 * [backup-simplify]: Simplify 0 into 0 27.129 * [backup-simplify]: Simplify 1 into 1 27.130 * [backup-simplify]: Simplify (/ 1 1) into 1 27.130 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.130 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 27.130 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.130 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.130 * [taylor]: Taking taylor expansion of delta in phi1 27.130 * [backup-simplify]: Simplify delta into delta 27.130 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.130 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.130 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.130 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.130 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.130 * [taylor]: Taking taylor expansion of phi1 in phi1 27.130 * [backup-simplify]: Simplify 0 into 0 27.130 * [backup-simplify]: Simplify 1 into 1 27.130 * [backup-simplify]: Simplify (/ 1 1) into 1 27.130 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.131 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.131 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.131 * [taylor]: Taking taylor expansion of phi1 in phi1 27.131 * [backup-simplify]: Simplify 0 into 0 27.131 * [backup-simplify]: Simplify 1 into 1 27.131 * [backup-simplify]: Simplify (/ 1 1) into 1 27.131 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.131 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 27.131 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.131 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 27.132 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in phi1 27.132 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.132 * [taylor]: Taking taylor expansion of phi1 in phi1 27.132 * [backup-simplify]: Simplify 0 into 0 27.132 * [backup-simplify]: Simplify 1 into 1 27.132 * [backup-simplify]: Simplify (/ 1 1) into 1 27.132 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.132 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 27.132 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.132 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.132 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.132 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.132 * [taylor]: Taking taylor expansion of delta in phi1 27.132 * [backup-simplify]: Simplify delta into delta 27.132 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.132 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.132 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.133 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.133 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.133 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.133 * [taylor]: Taking taylor expansion of theta in phi1 27.133 * [backup-simplify]: Simplify theta into theta 27.133 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.133 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.133 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.133 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.133 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.133 * [taylor]: Taking taylor expansion of phi1 in phi1 27.133 * [backup-simplify]: Simplify 0 into 0 27.133 * [backup-simplify]: Simplify 1 into 1 27.133 * [backup-simplify]: Simplify (/ 1 1) into 1 27.133 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.133 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 27.133 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.133 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.133 * [taylor]: Taking taylor expansion of delta in phi1 27.134 * [backup-simplify]: Simplify delta into delta 27.134 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.134 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.134 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.134 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.134 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.134 * [taylor]: Taking taylor expansion of phi1 in phi1 27.134 * [backup-simplify]: Simplify 0 into 0 27.134 * [backup-simplify]: Simplify 1 into 1 27.134 * [backup-simplify]: Simplify (/ 1 1) into 1 27.134 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.134 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 27.134 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 27.134 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.134 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.134 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.134 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.134 * [taylor]: Taking taylor expansion of delta in phi1 27.135 * [backup-simplify]: Simplify delta into delta 27.135 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.135 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.135 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.135 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.135 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.135 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.135 * [taylor]: Taking taylor expansion of theta in phi1 27.135 * [backup-simplify]: Simplify theta into theta 27.135 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.135 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.135 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.135 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.135 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.135 * [taylor]: Taking taylor expansion of phi1 in phi1 27.135 * [backup-simplify]: Simplify 0 into 0 27.135 * [backup-simplify]: Simplify 1 into 1 27.135 * [backup-simplify]: Simplify (/ 1 1) into 1 27.136 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.136 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 27.136 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.136 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.136 * [taylor]: Taking taylor expansion of delta in phi1 27.136 * [backup-simplify]: Simplify delta into delta 27.136 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.136 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.136 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.136 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.136 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.136 * [taylor]: Taking taylor expansion of phi1 in phi1 27.136 * [backup-simplify]: Simplify 0 into 0 27.136 * [backup-simplify]: Simplify 1 into 1 27.136 * [backup-simplify]: Simplify (/ 1 1) into 1 27.136 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.136 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.136 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.137 * [taylor]: Taking taylor expansion of phi1 in phi1 27.137 * [backup-simplify]: Simplify 0 into 0 27.137 * [backup-simplify]: Simplify 1 into 1 27.137 * [backup-simplify]: Simplify (/ 1 1) into 1 27.137 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.137 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 27.137 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 27.137 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 27.137 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 27.138 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.138 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.138 * [backup-simplify]: Simplify (- 0) into 0 27.138 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.138 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 27.138 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.138 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.139 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.139 * [backup-simplify]: Simplify (- 0) into 0 27.139 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.139 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 27.139 * [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))))) 27.140 * [backup-simplify]: Simplify (* (- (sin (/ 1 phi1))) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) 27.140 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 27.140 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 27.140 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 27.140 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.140 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.141 * [backup-simplify]: Simplify (- 0) into 0 27.141 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.141 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 27.141 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.141 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.141 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.142 * [backup-simplify]: Simplify (- 0) into 0 27.142 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.142 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 27.142 * [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))))) 27.142 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 27.143 * [backup-simplify]: Simplify (+ (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.143 * [taylor]: Taking taylor expansion of (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in delta 27.143 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 27.144 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in delta 27.144 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.144 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.144 * [taylor]: Taking taylor expansion of phi1 in delta 27.144 * [backup-simplify]: Simplify phi1 into phi1 27.144 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.144 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.144 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.144 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in delta 27.144 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.144 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.144 * [taylor]: Taking taylor expansion of phi1 in delta 27.144 * [backup-simplify]: Simplify phi1 into phi1 27.144 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.144 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.144 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.144 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in delta 27.144 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.144 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.144 * [taylor]: Taking taylor expansion of theta in delta 27.144 * [backup-simplify]: Simplify theta into theta 27.144 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.144 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.144 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.144 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.145 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.145 * [taylor]: Taking taylor expansion of delta in delta 27.145 * [backup-simplify]: Simplify 0 into 0 27.145 * [backup-simplify]: Simplify 1 into 1 27.145 * [backup-simplify]: Simplify (/ 1 1) into 1 27.145 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.145 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 27.145 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 27.145 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.145 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.145 * [taylor]: Taking taylor expansion of phi1 in delta 27.145 * [backup-simplify]: Simplify phi1 into phi1 27.145 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.145 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.145 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.146 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.146 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.146 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.146 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.146 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.146 * [taylor]: Taking taylor expansion of delta in delta 27.146 * [backup-simplify]: Simplify 0 into 0 27.146 * [backup-simplify]: Simplify 1 into 1 27.146 * [backup-simplify]: Simplify (/ 1 1) into 1 27.146 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.146 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in delta 27.146 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 27.146 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.146 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.146 * [taylor]: Taking taylor expansion of phi1 in delta 27.146 * [backup-simplify]: Simplify phi1 into phi1 27.147 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.147 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.147 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.147 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.147 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.147 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.147 * [taylor]: Taking taylor expansion of delta in delta 27.147 * [backup-simplify]: Simplify 0 into 0 27.147 * [backup-simplify]: Simplify 1 into 1 27.147 * [backup-simplify]: Simplify (/ 1 1) into 1 27.147 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.147 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.147 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.147 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.147 * [taylor]: Taking taylor expansion of theta in delta 27.147 * [backup-simplify]: Simplify theta into theta 27.147 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.148 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.148 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.148 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.148 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.148 * [taylor]: Taking taylor expansion of phi1 in delta 27.148 * [backup-simplify]: Simplify phi1 into phi1 27.148 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.148 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.148 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.148 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in delta 27.148 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.148 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.148 * [taylor]: Taking taylor expansion of delta in delta 27.148 * [backup-simplify]: Simplify 0 into 0 27.148 * [backup-simplify]: Simplify 1 into 1 27.148 * [backup-simplify]: Simplify (/ 1 1) into 1 27.148 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.149 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 27.149 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.149 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.149 * [taylor]: Taking taylor expansion of phi1 in delta 27.149 * [backup-simplify]: Simplify phi1 into phi1 27.149 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.149 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.149 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.149 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.149 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.149 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.149 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.149 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.150 * [backup-simplify]: Simplify (- 0) into 0 27.150 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.150 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.150 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.150 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.150 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.150 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.151 * [backup-simplify]: Simplify (- 0) into 0 27.151 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.151 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 27.151 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 27.151 * [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))))) 27.151 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 27.151 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 27.152 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 27.152 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.152 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.152 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.152 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.152 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.153 * [backup-simplify]: Simplify (- 0) into 0 27.153 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.153 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.153 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.153 * [backup-simplify]: Simplify (- 0) into 0 27.154 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.154 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 27.154 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.154 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 27.154 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 27.154 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 27.155 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 27.156 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.157 * [backup-simplify]: Simplify (+ (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.157 * [taylor]: Taking taylor expansion of (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 27.157 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 27.157 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 27.157 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.157 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.157 * [taylor]: Taking taylor expansion of phi1 in theta 27.157 * [backup-simplify]: Simplify phi1 into phi1 27.157 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.157 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.157 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.157 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 27.157 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.157 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.157 * [taylor]: Taking taylor expansion of delta in theta 27.157 * [backup-simplify]: Simplify delta into delta 27.157 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.157 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.157 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.157 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 27.157 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.157 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.157 * [taylor]: Taking taylor expansion of theta in theta 27.157 * [backup-simplify]: Simplify 0 into 0 27.157 * [backup-simplify]: Simplify 1 into 1 27.158 * [backup-simplify]: Simplify (/ 1 1) into 1 27.158 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.158 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.158 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.158 * [taylor]: Taking taylor expansion of phi1 in theta 27.158 * [backup-simplify]: Simplify phi1 into phi1 27.158 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.158 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.158 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.158 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 27.158 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 27.158 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.158 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.158 * [taylor]: Taking taylor expansion of phi1 in theta 27.158 * [backup-simplify]: Simplify phi1 into phi1 27.158 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.158 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.158 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.158 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.158 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.158 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.158 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.158 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.158 * [taylor]: Taking taylor expansion of delta in theta 27.158 * [backup-simplify]: Simplify delta into delta 27.158 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.158 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.158 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.158 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 27.159 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in theta 27.159 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.159 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.159 * [taylor]: Taking taylor expansion of phi1 in theta 27.159 * [backup-simplify]: Simplify phi1 into phi1 27.159 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.159 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.159 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.159 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 27.159 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.159 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.159 * [taylor]: Taking taylor expansion of phi1 in theta 27.159 * [backup-simplify]: Simplify phi1 into phi1 27.159 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.159 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.159 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.159 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 27.159 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.159 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.159 * [taylor]: Taking taylor expansion of theta in theta 27.159 * [backup-simplify]: Simplify 0 into 0 27.159 * [backup-simplify]: Simplify 1 into 1 27.159 * [backup-simplify]: Simplify (/ 1 1) into 1 27.159 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.159 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.159 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.159 * [taylor]: Taking taylor expansion of delta in theta 27.159 * [backup-simplify]: Simplify delta into delta 27.159 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.159 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.159 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.159 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 27.160 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.160 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.160 * [taylor]: Taking taylor expansion of delta in theta 27.160 * [backup-simplify]: Simplify delta into delta 27.160 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.160 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.160 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.160 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 27.160 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.160 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.160 * [taylor]: Taking taylor expansion of phi1 in theta 27.160 * [backup-simplify]: Simplify phi1 into phi1 27.160 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.160 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.160 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.160 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.160 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.160 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.160 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.160 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.160 * [backup-simplify]: Simplify (- 0) into 0 27.160 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.161 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 27.161 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 27.161 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 27.161 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.161 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.161 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.161 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 27.161 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.161 * [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))))) 27.161 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 27.161 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.161 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.162 * [backup-simplify]: Simplify (- 0) into 0 27.162 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.162 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 27.162 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 27.162 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.162 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.162 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.162 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.162 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.163 * [backup-simplify]: Simplify (- 0) into 0 27.163 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.163 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 27.163 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 27.163 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 27.163 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 27.163 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 27.163 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 27.163 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.163 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.163 * [backup-simplify]: Simplify (- 0) into 0 27.163 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.164 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 27.164 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 27.164 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 27.164 * [backup-simplify]: Simplify (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.165 * [backup-simplify]: Simplify (+ (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.165 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 27.166 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 27.166 * [backup-simplify]: Simplify (+ 0) into 0 27.166 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.167 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.167 * [backup-simplify]: Simplify (- 0) into 0 27.168 * [backup-simplify]: Simplify (+ 0 0) into 0 27.168 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 27.168 * [backup-simplify]: Simplify (+ 0) into 0 27.168 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 27.168 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.169 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 27.169 * [backup-simplify]: Simplify (+ 0 0) into 0 27.169 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 27.170 * [backup-simplify]: Simplify (+ 0) into 0 27.170 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.171 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.171 * [backup-simplify]: Simplify (- 0) into 0 27.171 * [backup-simplify]: Simplify (+ 0 0) into 0 27.171 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.172 * [backup-simplify]: Simplify (+ 0 0) into 0 27.172 * [backup-simplify]: Simplify (- 0) into 0 27.172 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 27.172 * [backup-simplify]: Simplify (+ 0) into 0 27.173 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.173 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.174 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.174 * [backup-simplify]: Simplify (- 0) into 0 27.174 * [backup-simplify]: Simplify (+ 0 0) into 0 27.174 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 27.174 * [backup-simplify]: Simplify (+ 0) into 0 27.175 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 27.175 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.176 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 27.176 * [backup-simplify]: Simplify (+ 0 0) into 0 27.176 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 27.176 * [backup-simplify]: Simplify (+ 0) into 0 27.180 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.181 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.181 * [backup-simplify]: Simplify (- 0) into 0 27.181 * [backup-simplify]: Simplify (+ 0 0) into 0 27.182 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.182 * [backup-simplify]: Simplify (+ 0 0) into 0 27.182 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.182 * [backup-simplify]: Simplify (+ 0 0) into 0 27.182 * [taylor]: Taking taylor expansion of 0 in delta 27.182 * [backup-simplify]: Simplify 0 into 0 27.182 * [taylor]: Taking taylor expansion of 0 in theta 27.182 * [backup-simplify]: Simplify 0 into 0 27.182 * [backup-simplify]: Simplify 0 into 0 27.183 * [backup-simplify]: Simplify (+ 0) into 0 27.183 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.183 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.184 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.184 * [backup-simplify]: Simplify (- 0) into 0 27.184 * [backup-simplify]: Simplify (+ 0 0) into 0 27.184 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 27.185 * [backup-simplify]: Simplify (+ 0) into 0 27.185 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.186 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.187 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.187 * [backup-simplify]: Simplify (+ 0 0) into 0 27.187 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 27.188 * [backup-simplify]: Simplify (+ 0) into 0 27.188 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.188 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.190 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.190 * [backup-simplify]: Simplify (- 0) into 0 27.190 * [backup-simplify]: Simplify (+ 0 0) into 0 27.191 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 27.191 * [backup-simplify]: Simplify (+ 0) into 0 27.191 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.192 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.193 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.193 * [backup-simplify]: Simplify (+ 0 0) into 0 27.193 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.194 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 27.194 * [backup-simplify]: Simplify (+ 0 0) into 0 27.194 * [backup-simplify]: Simplify (+ 0) into 0 27.195 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.195 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.196 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.197 * [backup-simplify]: Simplify (- 0) into 0 27.197 * [backup-simplify]: Simplify (+ 0 0) into 0 27.197 * [backup-simplify]: Simplify (+ 0) into 0 27.198 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.198 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.199 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.199 * [backup-simplify]: Simplify (- 0) into 0 27.200 * [backup-simplify]: Simplify (+ 0 0) into 0 27.200 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 27.200 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 27.201 * [backup-simplify]: Simplify (+ 0) into 0 27.201 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.201 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.202 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.203 * [backup-simplify]: Simplify (+ 0 0) into 0 27.203 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 27.203 * [backup-simplify]: Simplify (+ 0) into 0 27.204 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.205 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.205 * [backup-simplify]: Simplify (+ 0 0) into 0 27.206 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.206 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 27.206 * [backup-simplify]: Simplify (+ 0 0) into 0 27.207 * [backup-simplify]: Simplify (- 0) into 0 27.207 * [backup-simplify]: Simplify (+ 0 0) into 0 27.207 * [taylor]: Taking taylor expansion of 0 in theta 27.207 * [backup-simplify]: Simplify 0 into 0 27.207 * [backup-simplify]: Simplify 0 into 0 27.207 * [backup-simplify]: Simplify (+ 0) into 0 27.208 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.208 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.209 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.210 * [backup-simplify]: Simplify (+ 0 0) into 0 27.210 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.210 * [backup-simplify]: Simplify (+ 0) into 0 27.211 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 27.211 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.212 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 27.212 * [backup-simplify]: Simplify (+ 0 0) into 0 27.213 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 27.213 * [backup-simplify]: Simplify (+ 0) into 0 27.213 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.214 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.215 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.215 * [backup-simplify]: Simplify (- 0) into 0 27.215 * [backup-simplify]: Simplify (+ 0 0) into 0 27.216 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 27.216 * [backup-simplify]: Simplify (+ 0) into 0 27.217 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.218 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.218 * [backup-simplify]: Simplify (- 0) into 0 27.219 * [backup-simplify]: Simplify (+ 0 0) into 0 27.219 * [backup-simplify]: Simplify (+ 0) into 0 27.219 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.221 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.221 * [backup-simplify]: Simplify (+ 0 0) into 0 27.221 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.221 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 27.222 * [backup-simplify]: Simplify (+ 0 0) into 0 27.222 * [backup-simplify]: Simplify (+ 0) into 0 27.223 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 27.223 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.224 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 27.224 * [backup-simplify]: Simplify (+ 0 0) into 0 27.224 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 27.225 * [backup-simplify]: Simplify (+ 0) into 0 27.225 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.225 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.227 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.227 * [backup-simplify]: Simplify (- 0) into 0 27.227 * [backup-simplify]: Simplify (+ 0 0) into 0 27.228 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 27.228 * [backup-simplify]: Simplify (+ 0) into 0 27.228 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.230 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.230 * [backup-simplify]: Simplify (+ 0 0) into 0 27.230 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.231 * [backup-simplify]: Simplify (+ 0) into 0 27.231 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.231 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.233 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.233 * [backup-simplify]: Simplify (+ 0 0) into 0 27.234 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.234 * [backup-simplify]: Simplify (+ 0) into 0 27.235 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.235 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.236 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.236 * [backup-simplify]: Simplify (- 0) into 0 27.237 * [backup-simplify]: Simplify (+ 0 0) into 0 27.237 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 27.237 * [backup-simplify]: Simplify (+ 0 0) into 0 27.238 * [backup-simplify]: Simplify (- 0) into 0 27.238 * [backup-simplify]: Simplify (+ 0 0) into 0 27.238 * [backup-simplify]: Simplify 0 into 0 27.238 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 27.239 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.240 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.240 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.241 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.241 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.242 * [backup-simplify]: Simplify (- 0) into 0 27.242 * [backup-simplify]: Simplify (+ 0 0) into 0 27.243 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 27.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.244 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.246 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.246 * [backup-simplify]: Simplify (+ 0 0) into 0 27.247 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.248 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.248 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.250 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.250 * [backup-simplify]: Simplify (- 0) into 0 27.250 * [backup-simplify]: Simplify (+ 0 0) into 0 27.251 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.251 * [backup-simplify]: Simplify (+ 0 0) into 0 27.252 * [backup-simplify]: Simplify (- 0) into 0 27.252 * [backup-simplify]: Simplify (- 0) into 0 27.253 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 27.254 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.254 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.255 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.255 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.256 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.256 * [backup-simplify]: Simplify (- 0) into 0 27.257 * [backup-simplify]: Simplify (+ 0 0) into 0 27.258 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 27.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.259 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.261 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.261 * [backup-simplify]: Simplify (+ 0 0) into 0 27.262 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.262 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.263 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.263 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.264 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.265 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.265 * [backup-simplify]: Simplify (- 0) into 0 27.265 * [backup-simplify]: Simplify (+ 0 0) into 0 27.266 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.266 * [backup-simplify]: Simplify (+ 0 0) into 0 27.267 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.267 * [backup-simplify]: Simplify (+ 0 0) into 0 27.267 * [taylor]: Taking taylor expansion of 0 in delta 27.267 * [backup-simplify]: Simplify 0 into 0 27.268 * [taylor]: Taking taylor expansion of 0 in theta 27.268 * [backup-simplify]: Simplify 0 into 0 27.268 * [backup-simplify]: Simplify 0 into 0 27.268 * [taylor]: Taking taylor expansion of 0 in theta 27.268 * [backup-simplify]: Simplify 0 into 0 27.268 * [backup-simplify]: Simplify 0 into 0 27.269 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.269 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.269 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.270 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.271 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.271 * [backup-simplify]: Simplify (- 0) into 0 27.272 * [backup-simplify]: Simplify (+ 0 0) into 0 27.272 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 27.273 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.274 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.275 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.275 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.275 * [backup-simplify]: Simplify (+ 0 0) into 0 27.276 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 27.277 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.278 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.278 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.279 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.279 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.279 * [backup-simplify]: Simplify (- 0) into 0 27.280 * [backup-simplify]: Simplify (+ 0 0) into 0 27.280 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 27.281 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.282 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.282 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.283 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.284 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.284 * [backup-simplify]: Simplify (+ 0 0) into 0 27.285 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.285 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 27.286 * [backup-simplify]: Simplify (+ 0 0) into 0 27.286 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.287 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.287 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.288 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.289 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.289 * [backup-simplify]: Simplify (- 0) into 0 27.289 * [backup-simplify]: Simplify (+ 0 0) into 0 27.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.291 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.291 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.292 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.292 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.293 * [backup-simplify]: Simplify (- 0) into 0 27.293 * [backup-simplify]: Simplify (+ 0 0) into 0 27.294 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 27.294 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.295 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.296 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.296 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.297 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.297 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.298 * [backup-simplify]: Simplify (+ 0 0) into 0 27.298 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 27.299 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.300 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.300 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.301 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.301 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.302 * [backup-simplify]: Simplify (+ 0 0) into 0 27.302 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.303 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 27.303 * [backup-simplify]: Simplify (+ 0 0) into 0 27.303 * [backup-simplify]: Simplify (- 0) into 0 27.304 * [backup-simplify]: Simplify (+ 0 0) into 0 27.304 * [taylor]: Taking taylor expansion of 0 in theta 27.304 * [backup-simplify]: Simplify 0 into 0 27.304 * [backup-simplify]: Simplify 0 into 0 27.305 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2))) (+ (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))) (* (cos phi1) (* (sin delta) (* (cos theta) (sin phi1))))) 27.306 * [backup-simplify]: Simplify (fma (- (sin (/ 1 (- phi1)))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))))) into (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.306 * [approximate]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (phi1 delta theta) around 0 27.306 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 27.306 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.306 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 27.306 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in theta 27.306 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.306 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.306 * [taylor]: Taking taylor expansion of -1 in theta 27.306 * [backup-simplify]: Simplify -1 into -1 27.306 * [taylor]: Taking taylor expansion of phi1 in theta 27.306 * [backup-simplify]: Simplify phi1 into phi1 27.307 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.307 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.307 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.307 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 27.307 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.307 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 27.307 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.307 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.307 * [taylor]: Taking taylor expansion of -1 in theta 27.307 * [backup-simplify]: Simplify -1 into -1 27.307 * [taylor]: Taking taylor expansion of delta in theta 27.307 * [backup-simplify]: Simplify delta into delta 27.307 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.307 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.307 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.307 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 27.307 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.307 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.307 * [taylor]: Taking taylor expansion of -1 in theta 27.307 * [backup-simplify]: Simplify -1 into -1 27.307 * [taylor]: Taking taylor expansion of phi1 in theta 27.307 * [backup-simplify]: Simplify phi1 into phi1 27.307 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.307 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.307 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.307 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.308 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.308 * [taylor]: Taking taylor expansion of -1 in theta 27.308 * [backup-simplify]: Simplify -1 into -1 27.308 * [taylor]: Taking taylor expansion of theta in theta 27.308 * [backup-simplify]: Simplify 0 into 0 27.308 * [backup-simplify]: Simplify 1 into 1 27.308 * [backup-simplify]: Simplify (/ -1 1) into -1 27.308 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.308 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 27.308 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.308 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.308 * [taylor]: Taking taylor expansion of -1 in theta 27.309 * [backup-simplify]: Simplify -1 into -1 27.309 * [taylor]: Taking taylor expansion of phi1 in theta 27.309 * [backup-simplify]: Simplify phi1 into phi1 27.309 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.309 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.309 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.309 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.309 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.309 * [taylor]: Taking taylor expansion of -1 in theta 27.309 * [backup-simplify]: Simplify -1 into -1 27.309 * [taylor]: Taking taylor expansion of delta in theta 27.309 * [backup-simplify]: Simplify delta into delta 27.309 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.309 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.309 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.309 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 27.309 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.309 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.309 * [taylor]: Taking taylor expansion of -1 in theta 27.309 * [backup-simplify]: Simplify -1 into -1 27.309 * [taylor]: Taking taylor expansion of phi1 in theta 27.309 * [backup-simplify]: Simplify phi1 into phi1 27.309 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.309 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.309 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.309 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 27.310 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.310 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 27.310 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.310 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.310 * [taylor]: Taking taylor expansion of -1 in theta 27.310 * [backup-simplify]: Simplify -1 into -1 27.310 * [taylor]: Taking taylor expansion of delta in theta 27.310 * [backup-simplify]: Simplify delta into delta 27.310 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.310 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.310 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.310 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 27.310 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.310 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.310 * [taylor]: Taking taylor expansion of -1 in theta 27.310 * [backup-simplify]: Simplify -1 into -1 27.310 * [taylor]: Taking taylor expansion of phi1 in theta 27.310 * [backup-simplify]: Simplify phi1 into phi1 27.310 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.310 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.310 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.310 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.310 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.310 * [taylor]: Taking taylor expansion of -1 in theta 27.310 * [backup-simplify]: Simplify -1 into -1 27.310 * [taylor]: Taking taylor expansion of theta in theta 27.310 * [backup-simplify]: Simplify 0 into 0 27.310 * [backup-simplify]: Simplify 1 into 1 27.311 * [backup-simplify]: Simplify (/ -1 1) into -1 27.311 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.311 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 27.311 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.311 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.311 * [taylor]: Taking taylor expansion of -1 in theta 27.311 * [backup-simplify]: Simplify -1 into -1 27.311 * [taylor]: Taking taylor expansion of phi1 in theta 27.311 * [backup-simplify]: Simplify phi1 into phi1 27.311 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.311 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.311 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.312 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.312 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.312 * [taylor]: Taking taylor expansion of -1 in theta 27.312 * [backup-simplify]: Simplify -1 into -1 27.312 * [taylor]: Taking taylor expansion of delta in theta 27.312 * [backup-simplify]: Simplify delta into delta 27.312 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.312 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.312 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.312 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 27.312 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.312 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.312 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in delta 27.312 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.312 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.312 * [taylor]: Taking taylor expansion of -1 in delta 27.312 * [backup-simplify]: Simplify -1 into -1 27.312 * [taylor]: Taking taylor expansion of phi1 in delta 27.312 * [backup-simplify]: Simplify phi1 into phi1 27.312 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.312 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.312 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.312 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.312 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.312 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.313 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.313 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.313 * [taylor]: Taking taylor expansion of -1 in delta 27.313 * [backup-simplify]: Simplify -1 into -1 27.313 * [taylor]: Taking taylor expansion of delta in delta 27.313 * [backup-simplify]: Simplify 0 into 0 27.313 * [backup-simplify]: Simplify 1 into 1 27.313 * [backup-simplify]: Simplify (/ -1 1) into -1 27.313 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.313 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.313 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.313 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.314 * [taylor]: Taking taylor expansion of -1 in delta 27.314 * [backup-simplify]: Simplify -1 into -1 27.314 * [taylor]: Taking taylor expansion of phi1 in delta 27.314 * [backup-simplify]: Simplify phi1 into phi1 27.314 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.314 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.314 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.314 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.314 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.314 * [taylor]: Taking taylor expansion of -1 in delta 27.314 * [backup-simplify]: Simplify -1 into -1 27.314 * [taylor]: Taking taylor expansion of theta in delta 27.314 * [backup-simplify]: Simplify theta into theta 27.314 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.314 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.314 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.314 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.314 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.314 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.314 * [taylor]: Taking taylor expansion of -1 in delta 27.314 * [backup-simplify]: Simplify -1 into -1 27.314 * [taylor]: Taking taylor expansion of phi1 in delta 27.314 * [backup-simplify]: Simplify phi1 into phi1 27.314 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.314 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.314 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.314 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.315 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.315 * [taylor]: Taking taylor expansion of -1 in delta 27.315 * [backup-simplify]: Simplify -1 into -1 27.315 * [taylor]: Taking taylor expansion of delta in delta 27.315 * [backup-simplify]: Simplify 0 into 0 27.315 * [backup-simplify]: Simplify 1 into 1 27.315 * [backup-simplify]: Simplify (/ -1 1) into -1 27.315 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.315 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.316 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.316 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.316 * [taylor]: Taking taylor expansion of -1 in delta 27.316 * [backup-simplify]: Simplify -1 into -1 27.316 * [taylor]: Taking taylor expansion of phi1 in delta 27.316 * [backup-simplify]: Simplify phi1 into phi1 27.316 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.316 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.316 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.316 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.316 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.316 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.316 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.316 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.316 * [taylor]: Taking taylor expansion of -1 in delta 27.316 * [backup-simplify]: Simplify -1 into -1 27.316 * [taylor]: Taking taylor expansion of delta in delta 27.316 * [backup-simplify]: Simplify 0 into 0 27.316 * [backup-simplify]: Simplify 1 into 1 27.317 * [backup-simplify]: Simplify (/ -1 1) into -1 27.317 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.317 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.317 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.317 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.317 * [taylor]: Taking taylor expansion of -1 in delta 27.317 * [backup-simplify]: Simplify -1 into -1 27.317 * [taylor]: Taking taylor expansion of phi1 in delta 27.317 * [backup-simplify]: Simplify phi1 into phi1 27.317 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.317 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.317 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.317 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.317 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.317 * [taylor]: Taking taylor expansion of -1 in delta 27.317 * [backup-simplify]: Simplify -1 into -1 27.317 * [taylor]: Taking taylor expansion of theta in delta 27.317 * [backup-simplify]: Simplify theta into theta 27.317 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.317 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.317 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.317 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.317 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.317 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.317 * [taylor]: Taking taylor expansion of -1 in delta 27.317 * [backup-simplify]: Simplify -1 into -1 27.317 * [taylor]: Taking taylor expansion of phi1 in delta 27.318 * [backup-simplify]: Simplify phi1 into phi1 27.318 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.318 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.318 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.318 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.318 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.318 * [taylor]: Taking taylor expansion of -1 in delta 27.318 * [backup-simplify]: Simplify -1 into -1 27.318 * [taylor]: Taking taylor expansion of delta in delta 27.318 * [backup-simplify]: Simplify 0 into 0 27.318 * [backup-simplify]: Simplify 1 into 1 27.318 * [backup-simplify]: Simplify (/ -1 1) into -1 27.318 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.318 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 27.319 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.319 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 27.319 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in phi1 27.319 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.319 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.319 * [taylor]: Taking taylor expansion of -1 in phi1 27.319 * [backup-simplify]: Simplify -1 into -1 27.319 * [taylor]: Taking taylor expansion of phi1 in phi1 27.319 * [backup-simplify]: Simplify 0 into 0 27.319 * [backup-simplify]: Simplify 1 into 1 27.324 * [backup-simplify]: Simplify (/ -1 1) into -1 27.324 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.324 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 27.324 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.324 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 27.324 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.324 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.325 * [taylor]: Taking taylor expansion of -1 in phi1 27.325 * [backup-simplify]: Simplify -1 into -1 27.325 * [taylor]: Taking taylor expansion of delta in phi1 27.325 * [backup-simplify]: Simplify delta into delta 27.325 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.325 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.325 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.325 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 27.325 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.325 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.325 * [taylor]: Taking taylor expansion of -1 in phi1 27.325 * [backup-simplify]: Simplify -1 into -1 27.325 * [taylor]: Taking taylor expansion of phi1 in phi1 27.325 * [backup-simplify]: Simplify 0 into 0 27.325 * [backup-simplify]: Simplify 1 into 1 27.326 * [backup-simplify]: Simplify (/ -1 1) into -1 27.326 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.326 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.326 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.326 * [taylor]: Taking taylor expansion of -1 in phi1 27.326 * [backup-simplify]: Simplify -1 into -1 27.326 * [taylor]: Taking taylor expansion of theta in phi1 27.326 * [backup-simplify]: Simplify theta into theta 27.326 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.326 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.326 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.326 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 27.326 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.326 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.326 * [taylor]: Taking taylor expansion of -1 in phi1 27.326 * [backup-simplify]: Simplify -1 into -1 27.326 * [taylor]: Taking taylor expansion of phi1 in phi1 27.326 * [backup-simplify]: Simplify 0 into 0 27.326 * [backup-simplify]: Simplify 1 into 1 27.327 * [backup-simplify]: Simplify (/ -1 1) into -1 27.327 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.327 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.327 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.327 * [taylor]: Taking taylor expansion of -1 in phi1 27.327 * [backup-simplify]: Simplify -1 into -1 27.327 * [taylor]: Taking taylor expansion of delta in phi1 27.327 * [backup-simplify]: Simplify delta into delta 27.327 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.327 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.327 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.327 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 27.327 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.327 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.327 * [taylor]: Taking taylor expansion of -1 in phi1 27.327 * [backup-simplify]: Simplify -1 into -1 27.327 * [taylor]: Taking taylor expansion of phi1 in phi1 27.327 * [backup-simplify]: Simplify 0 into 0 27.327 * [backup-simplify]: Simplify 1 into 1 27.328 * [backup-simplify]: Simplify (/ -1 1) into -1 27.328 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.328 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 27.328 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.328 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 27.328 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.328 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.328 * [taylor]: Taking taylor expansion of -1 in phi1 27.328 * [backup-simplify]: Simplify -1 into -1 27.328 * [taylor]: Taking taylor expansion of delta in phi1 27.328 * [backup-simplify]: Simplify delta into delta 27.328 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.328 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.328 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.328 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 27.328 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.328 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.328 * [taylor]: Taking taylor expansion of -1 in phi1 27.328 * [backup-simplify]: Simplify -1 into -1 27.328 * [taylor]: Taking taylor expansion of phi1 in phi1 27.329 * [backup-simplify]: Simplify 0 into 0 27.329 * [backup-simplify]: Simplify 1 into 1 27.329 * [backup-simplify]: Simplify (/ -1 1) into -1 27.329 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.329 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.329 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.329 * [taylor]: Taking taylor expansion of -1 in phi1 27.329 * [backup-simplify]: Simplify -1 into -1 27.329 * [taylor]: Taking taylor expansion of theta in phi1 27.329 * [backup-simplify]: Simplify theta into theta 27.329 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.329 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.329 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.329 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 27.329 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.329 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.329 * [taylor]: Taking taylor expansion of -1 in phi1 27.330 * [backup-simplify]: Simplify -1 into -1 27.330 * [taylor]: Taking taylor expansion of phi1 in phi1 27.330 * [backup-simplify]: Simplify 0 into 0 27.330 * [backup-simplify]: Simplify 1 into 1 27.330 * [backup-simplify]: Simplify (/ -1 1) into -1 27.330 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.330 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.330 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.330 * [taylor]: Taking taylor expansion of -1 in phi1 27.330 * [backup-simplify]: Simplify -1 into -1 27.330 * [taylor]: Taking taylor expansion of delta in phi1 27.330 * [backup-simplify]: Simplify delta into delta 27.330 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.330 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.330 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.330 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 27.331 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.331 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 27.331 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in phi1 27.331 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.331 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.331 * [taylor]: Taking taylor expansion of -1 in phi1 27.331 * [backup-simplify]: Simplify -1 into -1 27.331 * [taylor]: Taking taylor expansion of phi1 in phi1 27.331 * [backup-simplify]: Simplify 0 into 0 27.331 * [backup-simplify]: Simplify 1 into 1 27.331 * [backup-simplify]: Simplify (/ -1 1) into -1 27.331 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.331 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 27.331 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.331 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 27.331 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.331 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.331 * [taylor]: Taking taylor expansion of -1 in phi1 27.331 * [backup-simplify]: Simplify -1 into -1 27.332 * [taylor]: Taking taylor expansion of delta in phi1 27.332 * [backup-simplify]: Simplify delta into delta 27.332 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.332 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.332 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.332 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 27.332 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.332 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.332 * [taylor]: Taking taylor expansion of -1 in phi1 27.332 * [backup-simplify]: Simplify -1 into -1 27.332 * [taylor]: Taking taylor expansion of phi1 in phi1 27.332 * [backup-simplify]: Simplify 0 into 0 27.332 * [backup-simplify]: Simplify 1 into 1 27.333 * [backup-simplify]: Simplify (/ -1 1) into -1 27.333 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.333 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.333 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.333 * [taylor]: Taking taylor expansion of -1 in phi1 27.333 * [backup-simplify]: Simplify -1 into -1 27.333 * [taylor]: Taking taylor expansion of theta in phi1 27.333 * [backup-simplify]: Simplify theta into theta 27.333 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.333 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.333 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.333 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 27.333 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.333 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.333 * [taylor]: Taking taylor expansion of -1 in phi1 27.333 * [backup-simplify]: Simplify -1 into -1 27.333 * [taylor]: Taking taylor expansion of phi1 in phi1 27.333 * [backup-simplify]: Simplify 0 into 0 27.333 * [backup-simplify]: Simplify 1 into 1 27.334 * [backup-simplify]: Simplify (/ -1 1) into -1 27.334 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.334 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.334 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.334 * [taylor]: Taking taylor expansion of -1 in phi1 27.334 * [backup-simplify]: Simplify -1 into -1 27.334 * [taylor]: Taking taylor expansion of delta in phi1 27.334 * [backup-simplify]: Simplify delta into delta 27.334 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.334 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.334 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.334 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 27.334 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.334 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.334 * [taylor]: Taking taylor expansion of -1 in phi1 27.334 * [backup-simplify]: Simplify -1 into -1 27.334 * [taylor]: Taking taylor expansion of phi1 in phi1 27.334 * [backup-simplify]: Simplify 0 into 0 27.334 * [backup-simplify]: Simplify 1 into 1 27.335 * [backup-simplify]: Simplify (/ -1 1) into -1 27.335 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.335 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 27.335 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.335 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 27.335 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.335 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.335 * [taylor]: Taking taylor expansion of -1 in phi1 27.335 * [backup-simplify]: Simplify -1 into -1 27.335 * [taylor]: Taking taylor expansion of delta in phi1 27.335 * [backup-simplify]: Simplify delta into delta 27.335 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.335 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.335 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.335 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 27.335 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.335 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.335 * [taylor]: Taking taylor expansion of -1 in phi1 27.335 * [backup-simplify]: Simplify -1 into -1 27.335 * [taylor]: Taking taylor expansion of phi1 in phi1 27.335 * [backup-simplify]: Simplify 0 into 0 27.335 * [backup-simplify]: Simplify 1 into 1 27.336 * [backup-simplify]: Simplify (/ -1 1) into -1 27.336 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.336 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.336 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.336 * [taylor]: Taking taylor expansion of -1 in phi1 27.336 * [backup-simplify]: Simplify -1 into -1 27.336 * [taylor]: Taking taylor expansion of theta in phi1 27.336 * [backup-simplify]: Simplify theta into theta 27.336 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.336 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.336 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.336 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 27.336 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.336 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.336 * [taylor]: Taking taylor expansion of -1 in phi1 27.336 * [backup-simplify]: Simplify -1 into -1 27.336 * [taylor]: Taking taylor expansion of phi1 in phi1 27.336 * [backup-simplify]: Simplify 0 into 0 27.337 * [backup-simplify]: Simplify 1 into 1 27.337 * [backup-simplify]: Simplify (/ -1 1) into -1 27.337 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.337 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.337 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.337 * [taylor]: Taking taylor expansion of -1 in phi1 27.337 * [backup-simplify]: Simplify -1 into -1 27.337 * [taylor]: Taking taylor expansion of delta in phi1 27.337 * [backup-simplify]: Simplify delta into delta 27.337 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.337 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.337 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.337 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 27.338 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 27.338 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 27.338 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 27.338 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.338 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.338 * [backup-simplify]: Simplify (- 0) into 0 27.338 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.339 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.339 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.339 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 27.339 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 27.339 * [backup-simplify]: Simplify (- 0) into 0 27.339 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 27.339 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 27.340 * [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))))) 27.340 * [backup-simplify]: Simplify (* (- (sin (/ -1 phi1))) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) 27.340 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 27.340 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 27.340 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 27.340 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.341 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.341 * [backup-simplify]: Simplify (- 0) into 0 27.341 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.341 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.341 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.341 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 27.342 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 27.342 * [backup-simplify]: Simplify (- 0) into 0 27.342 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 27.342 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 27.342 * [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))))) 27.343 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 27.344 * [backup-simplify]: Simplify (+ (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 27.344 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 27.344 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in delta 27.344 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.344 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.344 * [taylor]: Taking taylor expansion of -1 in delta 27.344 * [backup-simplify]: Simplify -1 into -1 27.344 * [taylor]: Taking taylor expansion of phi1 in delta 27.344 * [backup-simplify]: Simplify phi1 into phi1 27.344 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.344 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.344 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.344 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in delta 27.344 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.344 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.344 * [taylor]: Taking taylor expansion of -1 in delta 27.344 * [backup-simplify]: Simplify -1 into -1 27.344 * [taylor]: Taking taylor expansion of delta in delta 27.344 * [backup-simplify]: Simplify 0 into 0 27.344 * [backup-simplify]: Simplify 1 into 1 27.345 * [backup-simplify]: Simplify (/ -1 1) into -1 27.345 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.345 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in delta 27.345 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.345 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.345 * [taylor]: Taking taylor expansion of -1 in delta 27.345 * [backup-simplify]: Simplify -1 into -1 27.345 * [taylor]: Taking taylor expansion of theta in delta 27.345 * [backup-simplify]: Simplify theta into theta 27.345 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.345 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.345 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.345 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.345 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.346 * [taylor]: Taking taylor expansion of -1 in delta 27.346 * [backup-simplify]: Simplify -1 into -1 27.346 * [taylor]: Taking taylor expansion of phi1 in delta 27.346 * [backup-simplify]: Simplify phi1 into phi1 27.346 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.346 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.346 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.346 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 27.346 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.346 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.346 * [taylor]: Taking taylor expansion of -1 in delta 27.346 * [backup-simplify]: Simplify -1 into -1 27.346 * [taylor]: Taking taylor expansion of phi1 in delta 27.346 * [backup-simplify]: Simplify phi1 into phi1 27.346 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.346 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.346 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.346 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 27.346 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.346 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.346 * [taylor]: Taking taylor expansion of -1 in delta 27.346 * [backup-simplify]: Simplify -1 into -1 27.346 * [taylor]: Taking taylor expansion of phi1 in delta 27.346 * [backup-simplify]: Simplify phi1 into phi1 27.346 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.346 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.347 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.347 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 27.347 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.347 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.347 * [taylor]: Taking taylor expansion of -1 in delta 27.347 * [backup-simplify]: Simplify -1 into -1 27.347 * [taylor]: Taking taylor expansion of theta in delta 27.347 * [backup-simplify]: Simplify theta into theta 27.347 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.347 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.347 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.347 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.347 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.347 * [taylor]: Taking taylor expansion of -1 in delta 27.347 * [backup-simplify]: Simplify -1 into -1 27.347 * [taylor]: Taking taylor expansion of delta in delta 27.347 * [backup-simplify]: Simplify 0 into 0 27.347 * [backup-simplify]: Simplify 1 into 1 27.348 * [backup-simplify]: Simplify (/ -1 1) into -1 27.348 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.348 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.348 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.348 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.348 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.348 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.349 * [backup-simplify]: Simplify (- 0) into 0 27.349 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.349 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.349 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.349 * [backup-simplify]: Simplify (- 0) into 0 27.349 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.350 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.350 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.350 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 27.350 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.350 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.350 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.350 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.350 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.351 * [backup-simplify]: Simplify (- 0) into 0 27.351 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.351 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.351 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.352 * [backup-simplify]: Simplify (- 0) into 0 27.352 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.352 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 27.352 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 27.352 * [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))))) 27.353 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 27.353 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 27.353 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in theta 27.353 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 27.353 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.353 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.353 * [taylor]: Taking taylor expansion of -1 in theta 27.353 * [backup-simplify]: Simplify -1 into -1 27.353 * [taylor]: Taking taylor expansion of phi1 in theta 27.353 * [backup-simplify]: Simplify phi1 into phi1 27.354 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.354 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.354 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.354 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 27.354 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.354 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.354 * [taylor]: Taking taylor expansion of -1 in theta 27.354 * [backup-simplify]: Simplify -1 into -1 27.354 * [taylor]: Taking taylor expansion of delta in theta 27.354 * [backup-simplify]: Simplify delta into delta 27.354 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.354 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.354 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.354 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 27.354 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.354 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.354 * [taylor]: Taking taylor expansion of -1 in theta 27.354 * [backup-simplify]: Simplify -1 into -1 27.354 * [taylor]: Taking taylor expansion of theta in theta 27.354 * [backup-simplify]: Simplify 0 into 0 27.354 * [backup-simplify]: Simplify 1 into 1 27.355 * [backup-simplify]: Simplify (/ -1 1) into -1 27.355 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.355 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.355 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.355 * [taylor]: Taking taylor expansion of -1 in theta 27.355 * [backup-simplify]: Simplify -1 into -1 27.355 * [taylor]: Taking taylor expansion of phi1 in theta 27.355 * [backup-simplify]: Simplify phi1 into phi1 27.355 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.355 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.355 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.355 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 27.355 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.355 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.355 * [taylor]: Taking taylor expansion of -1 in theta 27.355 * [backup-simplify]: Simplify -1 into -1 27.355 * [taylor]: Taking taylor expansion of phi1 in theta 27.356 * [backup-simplify]: Simplify phi1 into phi1 27.356 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.356 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.356 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.356 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 27.356 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.356 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.356 * [taylor]: Taking taylor expansion of -1 in theta 27.356 * [backup-simplify]: Simplify -1 into -1 27.356 * [taylor]: Taking taylor expansion of theta in theta 27.356 * [backup-simplify]: Simplify 0 into 0 27.356 * [backup-simplify]: Simplify 1 into 1 27.356 * [backup-simplify]: Simplify (/ -1 1) into -1 27.357 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.357 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 27.357 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.357 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.357 * [taylor]: Taking taylor expansion of -1 in theta 27.357 * [backup-simplify]: Simplify -1 into -1 27.357 * [taylor]: Taking taylor expansion of delta in theta 27.357 * [backup-simplify]: Simplify delta into delta 27.357 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.357 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.357 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.357 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.357 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.357 * [taylor]: Taking taylor expansion of -1 in theta 27.357 * [backup-simplify]: Simplify -1 into -1 27.357 * [taylor]: Taking taylor expansion of phi1 in theta 27.357 * [backup-simplify]: Simplify phi1 into phi1 27.357 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.357 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.357 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.357 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.357 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.358 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.358 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 27.358 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 27.358 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 27.358 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.358 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.358 * [backup-simplify]: Simplify (- 0) into 0 27.359 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.359 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.359 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.359 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 27.359 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.359 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.359 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.360 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 27.360 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 27.360 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 27.360 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.360 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.360 * [backup-simplify]: Simplify (- 0) into 0 27.360 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.361 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 27.361 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 27.361 * [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))))) 27.361 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 27.362 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (- (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 27.362 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 27.363 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 27.363 * [backup-simplify]: Simplify (+ 0) into 0 27.364 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.364 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.365 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.366 * [backup-simplify]: Simplify (- 0) into 0 27.366 * [backup-simplify]: Simplify (+ 0 0) into 0 27.366 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 27.367 * [backup-simplify]: Simplify (+ 0) into 0 27.367 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 27.367 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.368 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 27.369 * [backup-simplify]: Simplify (+ 0 0) into 0 27.369 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.370 * [backup-simplify]: Simplify (+ 0) into 0 27.370 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 27.370 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.371 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 27.372 * [backup-simplify]: Simplify (- 0) into 0 27.372 * [backup-simplify]: Simplify (+ 0 0) into 0 27.372 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 27.373 * [backup-simplify]: Simplify (+ 0 0) into 0 27.373 * [backup-simplify]: Simplify (- 0) into 0 27.374 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 27.374 * [backup-simplify]: Simplify (+ 0) into 0 27.374 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.375 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.376 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.376 * [backup-simplify]: Simplify (- 0) into 0 27.377 * [backup-simplify]: Simplify (+ 0 0) into 0 27.377 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 27.377 * [backup-simplify]: Simplify (+ 0) into 0 27.378 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 27.378 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.379 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 27.379 * [backup-simplify]: Simplify (+ 0 0) into 0 27.380 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.380 * [backup-simplify]: Simplify (+ 0) into 0 27.381 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 27.381 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.382 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 27.383 * [backup-simplify]: Simplify (- 0) into 0 27.383 * [backup-simplify]: Simplify (+ 0 0) into 0 27.383 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 27.384 * [backup-simplify]: Simplify (+ 0 0) into 0 27.384 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 27.384 * [backup-simplify]: Simplify (+ 0 0) into 0 27.384 * [taylor]: Taking taylor expansion of 0 in delta 27.384 * [backup-simplify]: Simplify 0 into 0 27.384 * [taylor]: Taking taylor expansion of 0 in theta 27.384 * [backup-simplify]: Simplify 0 into 0 27.384 * [backup-simplify]: Simplify 0 into 0 27.385 * [backup-simplify]: Simplify (+ 0) into 0 27.385 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.385 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.387 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.387 * [backup-simplify]: Simplify (- 0) into 0 27.387 * [backup-simplify]: Simplify (+ 0 0) into 0 27.388 * [backup-simplify]: Simplify (+ 0) into 0 27.388 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.388 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.390 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.390 * [backup-simplify]: Simplify (- 0) into 0 27.390 * [backup-simplify]: Simplify (+ 0 0) into 0 27.390 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 27.391 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.391 * [backup-simplify]: Simplify (+ 0) into 0 27.392 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.393 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.394 * [backup-simplify]: Simplify (+ 0 0) into 0 27.394 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 27.394 * [backup-simplify]: Simplify (+ 0) into 0 27.395 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.395 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.396 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.397 * [backup-simplify]: Simplify (- 0) into 0 27.397 * [backup-simplify]: Simplify (+ 0 0) into 0 27.397 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 27.398 * [backup-simplify]: Simplify (+ 0) into 0 27.398 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.400 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.400 * [backup-simplify]: Simplify (- 0) into 0 27.400 * [backup-simplify]: Simplify (+ 0 0) into 0 27.401 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 27.401 * [backup-simplify]: Simplify (+ 0) into 0 27.402 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.403 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.403 * [backup-simplify]: Simplify (+ 0 0) into 0 27.404 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 27.404 * [backup-simplify]: Simplify (- 0) into 0 27.404 * [backup-simplify]: Simplify (+ 0 0) into 0 27.404 * [taylor]: Taking taylor expansion of 0 in theta 27.404 * [backup-simplify]: Simplify 0 into 0 27.404 * [backup-simplify]: Simplify 0 into 0 27.405 * [backup-simplify]: Simplify (+ 0) into 0 27.405 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.406 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.407 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.407 * [backup-simplify]: Simplify (- 0) into 0 27.407 * [backup-simplify]: Simplify (+ 0 0) into 0 27.408 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 27.408 * [backup-simplify]: Simplify (+ 0) into 0 27.408 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 27.409 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.410 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 27.410 * [backup-simplify]: Simplify (+ 0 0) into 0 27.411 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.411 * [backup-simplify]: Simplify (+ 0) into 0 27.411 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.412 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.413 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.413 * [backup-simplify]: Simplify (+ 0 0) into 0 27.414 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 27.414 * [backup-simplify]: Simplify (+ 0) into 0 27.415 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.416 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.417 * [backup-simplify]: Simplify (- 0) into 0 27.417 * [backup-simplify]: Simplify (+ 0 0) into 0 27.417 * [backup-simplify]: Simplify (+ 0) into 0 27.418 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 27.418 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.419 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 27.420 * [backup-simplify]: Simplify (+ 0 0) into 0 27.420 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 27.420 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 27.420 * [backup-simplify]: Simplify (+ 0) into 0 27.421 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.422 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.422 * [backup-simplify]: Simplify (+ 0 0) into 0 27.422 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 27.422 * [backup-simplify]: Simplify (- 0) into 0 27.423 * [backup-simplify]: Simplify (+ 0 0) into 0 27.423 * [backup-simplify]: Simplify 0 into 0 27.423 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 27.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.424 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.424 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.424 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.425 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.425 * [backup-simplify]: Simplify (- 0) into 0 27.425 * [backup-simplify]: Simplify (+ 0 0) into 0 27.426 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 27.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.427 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.427 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.428 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.428 * [backup-simplify]: Simplify (+ 0 0) into 0 27.428 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 27.429 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.429 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.430 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.430 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.430 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.431 * [backup-simplify]: Simplify (- 0) into 0 27.431 * [backup-simplify]: Simplify (+ 0 0) into 0 27.431 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 27.431 * [backup-simplify]: Simplify (+ 0 0) into 0 27.432 * [backup-simplify]: Simplify (- 0) into 0 27.432 * [backup-simplify]: Simplify (- 0) into 0 27.432 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 27.433 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.433 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.433 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.434 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.434 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.435 * [backup-simplify]: Simplify (- 0) into 0 27.435 * [backup-simplify]: Simplify (+ 0 0) into 0 27.435 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 27.436 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.436 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.436 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.437 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.437 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.437 * [backup-simplify]: Simplify (+ 0 0) into 0 27.438 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 27.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.439 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.439 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.439 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.439 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.440 * [backup-simplify]: Simplify (- 0) into 0 27.440 * [backup-simplify]: Simplify (+ 0 0) into 0 27.440 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 27.441 * [backup-simplify]: Simplify (+ 0 0) into 0 27.441 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 27.441 * [backup-simplify]: Simplify (+ 0 0) into 0 27.441 * [taylor]: Taking taylor expansion of 0 in delta 27.441 * [backup-simplify]: Simplify 0 into 0 27.441 * [taylor]: Taking taylor expansion of 0 in theta 27.441 * [backup-simplify]: Simplify 0 into 0 27.441 * [backup-simplify]: Simplify 0 into 0 27.441 * [taylor]: Taking taylor expansion of 0 in theta 27.441 * [backup-simplify]: Simplify 0 into 0 27.441 * [backup-simplify]: Simplify 0 into 0 27.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.442 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.443 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.443 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.444 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.444 * [backup-simplify]: Simplify (- 0) into 0 27.444 * [backup-simplify]: Simplify (+ 0 0) into 0 27.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.445 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.445 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.446 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.446 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.446 * [backup-simplify]: Simplify (- 0) into 0 27.446 * [backup-simplify]: Simplify (+ 0 0) into 0 27.447 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 27.447 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 27.448 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.448 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.448 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.449 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.450 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.450 * [backup-simplify]: Simplify (+ 0 0) into 0 27.451 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 27.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.452 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.453 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.453 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.454 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.454 * [backup-simplify]: Simplify (- 0) into 0 27.455 * [backup-simplify]: Simplify (+ 0 0) into 0 27.455 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 27.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.463 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.464 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.465 * [backup-simplify]: Simplify (- 0) into 0 27.465 * [backup-simplify]: Simplify (+ 0 0) into 0 27.466 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 27.467 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.468 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.468 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.469 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.469 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.470 * [backup-simplify]: Simplify (+ 0 0) into 0 27.471 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 27.471 * [backup-simplify]: Simplify (- 0) into 0 27.471 * [backup-simplify]: Simplify (+ 0 0) into 0 27.471 * [taylor]: Taking taylor expansion of 0 in theta 27.471 * [backup-simplify]: Simplify 0 into 0 27.471 * [backup-simplify]: Simplify 0 into 0 27.472 * [backup-simplify]: Simplify (- (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1)))))))) into (- (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1))))) 27.472 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2) 27.474 * [backup-simplify]: Simplify (log (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) into (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 27.474 * [approximate]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in (delta phi1 theta) around 0 27.475 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in theta 27.475 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in theta 27.475 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 27.475 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in theta 27.475 * [taylor]: Taking taylor expansion of 1 in theta 27.475 * [backup-simplify]: Simplify 1 into 1 27.475 * [taylor]: Taking taylor expansion of (cos delta) in theta 27.475 * [taylor]: Taking taylor expansion of delta in theta 27.475 * [backup-simplify]: Simplify delta into delta 27.475 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.475 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.475 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 27.475 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 27.475 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.475 * [taylor]: Taking taylor expansion of phi1 in theta 27.475 * [backup-simplify]: Simplify phi1 into phi1 27.475 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.475 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.475 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 27.475 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.475 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 27.475 * [taylor]: Taking taylor expansion of (sin delta) in theta 27.475 * [taylor]: Taking taylor expansion of delta in theta 27.475 * [backup-simplify]: Simplify delta into delta 27.475 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.476 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.476 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 27.476 * [taylor]: Taking taylor expansion of (cos phi1) in theta 27.476 * [taylor]: Taking taylor expansion of phi1 in theta 27.476 * [backup-simplify]: Simplify phi1 into phi1 27.476 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.476 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.476 * [taylor]: Taking taylor expansion of (cos theta) in theta 27.476 * [taylor]: Taking taylor expansion of theta in theta 27.476 * [backup-simplify]: Simplify 0 into 0 27.476 * [backup-simplify]: Simplify 1 into 1 27.476 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 27.476 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.476 * [taylor]: Taking taylor expansion of phi1 in theta 27.476 * [backup-simplify]: Simplify phi1 into phi1 27.476 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.476 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.476 * [taylor]: Taking taylor expansion of (cos delta) in theta 27.476 * [taylor]: Taking taylor expansion of delta in theta 27.476 * [backup-simplify]: Simplify delta into delta 27.476 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.476 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.476 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 27.476 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.476 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 27.476 * [taylor]: Taking taylor expansion of (- (sin phi1)) in theta 27.476 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.476 * [taylor]: Taking taylor expansion of phi1 in theta 27.476 * [backup-simplify]: Simplify phi1 into phi1 27.477 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.477 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.477 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 27.477 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.477 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 27.477 * [taylor]: Taking taylor expansion of (sin delta) in theta 27.477 * [taylor]: Taking taylor expansion of delta in theta 27.477 * [backup-simplify]: Simplify delta into delta 27.477 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.477 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.477 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 27.477 * [taylor]: Taking taylor expansion of (cos phi1) in theta 27.477 * [taylor]: Taking taylor expansion of phi1 in theta 27.477 * [backup-simplify]: Simplify phi1 into phi1 27.477 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.477 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.477 * [taylor]: Taking taylor expansion of (cos theta) in theta 27.477 * [taylor]: Taking taylor expansion of theta in theta 27.477 * [backup-simplify]: Simplify 0 into 0 27.477 * [backup-simplify]: Simplify 1 into 1 27.477 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 27.477 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.477 * [taylor]: Taking taylor expansion of phi1 in theta 27.477 * [backup-simplify]: Simplify phi1 into phi1 27.477 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.477 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.477 * [taylor]: Taking taylor expansion of (cos delta) in theta 27.477 * [taylor]: Taking taylor expansion of delta in theta 27.477 * [backup-simplify]: Simplify delta into delta 27.478 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.478 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.478 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 27.478 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.478 * [taylor]: Taking taylor expansion of phi1 in theta 27.478 * [backup-simplify]: Simplify phi1 into phi1 27.478 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.478 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.478 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 27.478 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.478 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 27.478 * [taylor]: Taking taylor expansion of (sin delta) in theta 27.478 * [taylor]: Taking taylor expansion of delta in theta 27.478 * [backup-simplify]: Simplify delta into delta 27.478 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.478 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.478 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 27.478 * [taylor]: Taking taylor expansion of (cos phi1) in theta 27.478 * [taylor]: Taking taylor expansion of phi1 in theta 27.478 * [backup-simplify]: Simplify phi1 into phi1 27.478 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.478 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.478 * [taylor]: Taking taylor expansion of (cos theta) in theta 27.478 * [taylor]: Taking taylor expansion of theta in theta 27.478 * [backup-simplify]: Simplify 0 into 0 27.478 * [backup-simplify]: Simplify 1 into 1 27.478 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 27.478 * [taylor]: Taking taylor expansion of (sin phi1) in theta 27.478 * [taylor]: Taking taylor expansion of phi1 in theta 27.478 * [backup-simplify]: Simplify phi1 into phi1 27.479 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.479 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.479 * [taylor]: Taking taylor expansion of (cos delta) in theta 27.479 * [taylor]: Taking taylor expansion of delta in theta 27.479 * [backup-simplify]: Simplify delta into delta 27.479 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.479 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.479 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in phi1 27.479 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in phi1 27.479 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 27.479 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in phi1 27.479 * [taylor]: Taking taylor expansion of 1 in phi1 27.479 * [backup-simplify]: Simplify 1 into 1 27.479 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.479 * [taylor]: Taking taylor expansion of delta in phi1 27.479 * [backup-simplify]: Simplify delta into delta 27.479 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.479 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.479 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 27.479 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 27.479 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.479 * [taylor]: Taking taylor expansion of phi1 in phi1 27.479 * [backup-simplify]: Simplify 0 into 0 27.479 * [backup-simplify]: Simplify 1 into 1 27.479 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 27.479 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.479 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 27.480 * [taylor]: Taking taylor expansion of (sin delta) in phi1 27.480 * [taylor]: Taking taylor expansion of delta in phi1 27.480 * [backup-simplify]: Simplify delta into delta 27.480 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.480 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.480 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.480 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.480 * [taylor]: Taking taylor expansion of phi1 in phi1 27.480 * [backup-simplify]: Simplify 0 into 0 27.480 * [backup-simplify]: Simplify 1 into 1 27.480 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.480 * [taylor]: Taking taylor expansion of theta in phi1 27.480 * [backup-simplify]: Simplify theta into theta 27.480 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.480 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.480 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 27.480 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.480 * [taylor]: Taking taylor expansion of phi1 in phi1 27.480 * [backup-simplify]: Simplify 0 into 0 27.480 * [backup-simplify]: Simplify 1 into 1 27.480 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.480 * [taylor]: Taking taylor expansion of delta in phi1 27.480 * [backup-simplify]: Simplify delta into delta 27.480 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.480 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.480 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 27.480 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.480 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 27.480 * [taylor]: Taking taylor expansion of (- (sin phi1)) in phi1 27.481 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.481 * [taylor]: Taking taylor expansion of phi1 in phi1 27.481 * [backup-simplify]: Simplify 0 into 0 27.481 * [backup-simplify]: Simplify 1 into 1 27.481 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 27.481 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.481 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 27.481 * [taylor]: Taking taylor expansion of (sin delta) in phi1 27.481 * [taylor]: Taking taylor expansion of delta in phi1 27.481 * [backup-simplify]: Simplify delta into delta 27.481 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.481 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.481 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.481 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.481 * [taylor]: Taking taylor expansion of phi1 in phi1 27.481 * [backup-simplify]: Simplify 0 into 0 27.481 * [backup-simplify]: Simplify 1 into 1 27.481 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.481 * [taylor]: Taking taylor expansion of theta in phi1 27.481 * [backup-simplify]: Simplify theta into theta 27.481 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.481 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.481 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 27.481 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.481 * [taylor]: Taking taylor expansion of phi1 in phi1 27.481 * [backup-simplify]: Simplify 0 into 0 27.481 * [backup-simplify]: Simplify 1 into 1 27.481 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.481 * [taylor]: Taking taylor expansion of delta in phi1 27.481 * [backup-simplify]: Simplify delta into delta 27.481 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.482 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.482 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 27.482 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.482 * [taylor]: Taking taylor expansion of phi1 in phi1 27.482 * [backup-simplify]: Simplify 0 into 0 27.482 * [backup-simplify]: Simplify 1 into 1 27.482 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 27.482 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.482 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 27.482 * [taylor]: Taking taylor expansion of (sin delta) in phi1 27.482 * [taylor]: Taking taylor expansion of delta in phi1 27.482 * [backup-simplify]: Simplify delta into delta 27.482 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.482 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.482 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.482 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.482 * [taylor]: Taking taylor expansion of phi1 in phi1 27.482 * [backup-simplify]: Simplify 0 into 0 27.482 * [backup-simplify]: Simplify 1 into 1 27.482 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.482 * [taylor]: Taking taylor expansion of theta in phi1 27.482 * [backup-simplify]: Simplify theta into theta 27.482 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.482 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.482 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 27.482 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.482 * [taylor]: Taking taylor expansion of phi1 in phi1 27.482 * [backup-simplify]: Simplify 0 into 0 27.482 * [backup-simplify]: Simplify 1 into 1 27.482 * [taylor]: Taking taylor expansion of (cos delta) in phi1 27.482 * [taylor]: Taking taylor expansion of delta in phi1 27.483 * [backup-simplify]: Simplify delta into delta 27.483 * [backup-simplify]: Simplify (cos delta) into (cos delta) 27.483 * [backup-simplify]: Simplify (sin delta) into (sin delta) 27.483 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 27.483 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 27.483 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 27.483 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 27.483 * [taylor]: Taking taylor expansion of 1 in delta 27.483 * [backup-simplify]: Simplify 1 into 1 27.483 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.483 * [taylor]: Taking taylor expansion of delta in delta 27.483 * [backup-simplify]: Simplify 0 into 0 27.483 * [backup-simplify]: Simplify 1 into 1 27.483 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 27.483 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.483 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.483 * [taylor]: Taking taylor expansion of phi1 in delta 27.483 * [backup-simplify]: Simplify phi1 into phi1 27.483 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.483 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.483 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.483 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.483 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.483 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.483 * [taylor]: Taking taylor expansion of delta in delta 27.483 * [backup-simplify]: Simplify 0 into 0 27.483 * [backup-simplify]: Simplify 1 into 1 27.483 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.483 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.483 * [taylor]: Taking taylor expansion of phi1 in delta 27.484 * [backup-simplify]: Simplify phi1 into phi1 27.484 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.484 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.484 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.484 * [taylor]: Taking taylor expansion of theta in delta 27.484 * [backup-simplify]: Simplify theta into theta 27.484 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.484 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.484 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.484 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.484 * [taylor]: Taking taylor expansion of phi1 in delta 27.484 * [backup-simplify]: Simplify phi1 into phi1 27.484 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.484 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.484 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.484 * [taylor]: Taking taylor expansion of delta in delta 27.484 * [backup-simplify]: Simplify 0 into 0 27.484 * [backup-simplify]: Simplify 1 into 1 27.484 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 27.484 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.484 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.484 * [taylor]: Taking taylor expansion of (- (sin phi1)) in delta 27.484 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.484 * [taylor]: Taking taylor expansion of phi1 in delta 27.484 * [backup-simplify]: Simplify phi1 into phi1 27.484 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.484 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.484 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.485 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.485 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.485 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.485 * [taylor]: Taking taylor expansion of delta in delta 27.485 * [backup-simplify]: Simplify 0 into 0 27.485 * [backup-simplify]: Simplify 1 into 1 27.485 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.485 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.485 * [taylor]: Taking taylor expansion of phi1 in delta 27.485 * [backup-simplify]: Simplify phi1 into phi1 27.485 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.485 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.485 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.485 * [taylor]: Taking taylor expansion of theta in delta 27.485 * [backup-simplify]: Simplify theta into theta 27.485 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.485 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.485 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.485 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.485 * [taylor]: Taking taylor expansion of phi1 in delta 27.485 * [backup-simplify]: Simplify phi1 into phi1 27.485 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.485 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.485 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.485 * [taylor]: Taking taylor expansion of delta in delta 27.485 * [backup-simplify]: Simplify 0 into 0 27.485 * [backup-simplify]: Simplify 1 into 1 27.485 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.485 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.485 * [taylor]: Taking taylor expansion of phi1 in delta 27.485 * [backup-simplify]: Simplify phi1 into phi1 27.485 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.486 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.486 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.486 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.486 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.486 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.486 * [taylor]: Taking taylor expansion of delta in delta 27.486 * [backup-simplify]: Simplify 0 into 0 27.486 * [backup-simplify]: Simplify 1 into 1 27.486 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.486 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.486 * [taylor]: Taking taylor expansion of phi1 in delta 27.486 * [backup-simplify]: Simplify phi1 into phi1 27.486 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.486 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.486 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.486 * [taylor]: Taking taylor expansion of theta in delta 27.486 * [backup-simplify]: Simplify theta into theta 27.486 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.486 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.486 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.486 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.486 * [taylor]: Taking taylor expansion of phi1 in delta 27.486 * [backup-simplify]: Simplify phi1 into phi1 27.486 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.486 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.486 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.486 * [taylor]: Taking taylor expansion of delta in delta 27.486 * [backup-simplify]: Simplify 0 into 0 27.486 * [backup-simplify]: Simplify 1 into 1 27.486 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 27.487 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 27.487 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 27.487 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 27.487 * [taylor]: Taking taylor expansion of 1 in delta 27.487 * [backup-simplify]: Simplify 1 into 1 27.487 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.487 * [taylor]: Taking taylor expansion of delta in delta 27.487 * [backup-simplify]: Simplify 0 into 0 27.487 * [backup-simplify]: Simplify 1 into 1 27.487 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 27.487 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.487 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.487 * [taylor]: Taking taylor expansion of phi1 in delta 27.487 * [backup-simplify]: Simplify phi1 into phi1 27.487 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.487 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.487 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.487 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.487 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.487 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.487 * [taylor]: Taking taylor expansion of delta in delta 27.487 * [backup-simplify]: Simplify 0 into 0 27.487 * [backup-simplify]: Simplify 1 into 1 27.487 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.487 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.487 * [taylor]: Taking taylor expansion of phi1 in delta 27.487 * [backup-simplify]: Simplify phi1 into phi1 27.487 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.487 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.487 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.487 * [taylor]: Taking taylor expansion of theta in delta 27.488 * [backup-simplify]: Simplify theta into theta 27.488 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.488 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.488 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.488 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.488 * [taylor]: Taking taylor expansion of phi1 in delta 27.488 * [backup-simplify]: Simplify phi1 into phi1 27.488 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.488 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.488 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.488 * [taylor]: Taking taylor expansion of delta in delta 27.488 * [backup-simplify]: Simplify 0 into 0 27.488 * [backup-simplify]: Simplify 1 into 1 27.488 * [taylor]: Taking taylor expansion of (fma (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 27.488 * [taylor]: Rewrote expression to (+ (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) 27.488 * [taylor]: Taking taylor expansion of (* (- (sin phi1)) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.488 * [taylor]: Taking taylor expansion of (- (sin phi1)) in delta 27.488 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.488 * [taylor]: Taking taylor expansion of phi1 in delta 27.488 * [backup-simplify]: Simplify phi1 into phi1 27.488 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.488 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.488 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.488 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.488 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.488 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.488 * [taylor]: Taking taylor expansion of delta in delta 27.488 * [backup-simplify]: Simplify 0 into 0 27.489 * [backup-simplify]: Simplify 1 into 1 27.489 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.489 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.489 * [taylor]: Taking taylor expansion of phi1 in delta 27.489 * [backup-simplify]: Simplify phi1 into phi1 27.489 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.489 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.489 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.489 * [taylor]: Taking taylor expansion of theta in delta 27.489 * [backup-simplify]: Simplify theta into theta 27.489 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.489 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.489 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.489 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.489 * [taylor]: Taking taylor expansion of phi1 in delta 27.489 * [backup-simplify]: Simplify phi1 into phi1 27.489 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.489 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.489 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.489 * [taylor]: Taking taylor expansion of delta in delta 27.489 * [backup-simplify]: Simplify 0 into 0 27.489 * [backup-simplify]: Simplify 1 into 1 27.489 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 27.489 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.489 * [taylor]: Taking taylor expansion of phi1 in delta 27.489 * [backup-simplify]: Simplify phi1 into phi1 27.489 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.489 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.489 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 27.490 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 27.490 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 27.490 * [taylor]: Taking taylor expansion of (sin delta) in delta 27.490 * [taylor]: Taking taylor expansion of delta in delta 27.490 * [backup-simplify]: Simplify 0 into 0 27.490 * [backup-simplify]: Simplify 1 into 1 27.490 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 27.490 * [taylor]: Taking taylor expansion of (cos phi1) in delta 27.490 * [taylor]: Taking taylor expansion of phi1 in delta 27.490 * [backup-simplify]: Simplify phi1 into phi1 27.490 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.490 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.490 * [taylor]: Taking taylor expansion of (cos theta) in delta 27.490 * [taylor]: Taking taylor expansion of theta in delta 27.490 * [backup-simplify]: Simplify theta into theta 27.490 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.490 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.490 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 27.490 * [taylor]: Taking taylor expansion of (sin phi1) in delta 27.490 * [taylor]: Taking taylor expansion of phi1 in delta 27.490 * [backup-simplify]: Simplify phi1 into phi1 27.490 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 27.490 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 27.490 * [taylor]: Taking taylor expansion of (cos delta) in delta 27.490 * [taylor]: Taking taylor expansion of delta in delta 27.490 * [backup-simplify]: Simplify 0 into 0 27.490 * [backup-simplify]: Simplify 1 into 1 27.491 * [backup-simplify]: Simplify (* 1 1) into 1 27.491 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.491 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 27.491 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 27.491 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 27.491 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 27.492 * [backup-simplify]: Simplify (- 0) into 0 27.492 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 27.492 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 27.492 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 27.492 * [backup-simplify]: Simplify (- 0) into 0 27.493 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 27.493 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 27.493 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 27.493 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.493 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 27.493 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 27.493 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.493 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 27.494 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 27.494 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 27.494 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 27.494 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.494 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 27.494 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 27.494 * [backup-simplify]: Simplify (- (sin phi1)) into (- (sin phi1)) 27.494 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 27.494 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 27.495 * [backup-simplify]: Simplify (- 0) into 0 27.495 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 27.495 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 27.495 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 27.495 * [backup-simplify]: Simplify (- 0) into 0 27.495 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 27.495 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 27.496 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 27.496 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.496 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 27.496 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 27.496 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.496 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 27.496 * [backup-simplify]: Simplify (* (- (sin phi1)) (sin phi1)) into (* -1 (pow (sin phi1) 2)) 27.496 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.496 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 27.496 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 27.496 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 27.496 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 27.497 * [backup-simplify]: Simplify (- 0) into 0 27.497 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 27.497 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 27.497 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 27.497 * [backup-simplify]: Simplify (- 0) into 0 27.497 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 27.498 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 27.498 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 27.498 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.498 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 27.498 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 27.498 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 27.498 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 27.498 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 27.498 * [backup-simplify]: Simplify (+ (* -1 (pow (sin phi1) 2)) (pow (sin phi1) 2)) into 0 27.499 * [backup-simplify]: Simplify (+ (- 1 (pow (sin phi1) 2)) 0) into (- 1 (pow (sin phi1) 2)) 27.499 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 27.499 * [taylor]: Taking taylor expansion of 1 in phi1 27.499 * [backup-simplify]: Simplify 1 into 1 27.499 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 27.499 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.499 * [taylor]: Taking taylor expansion of phi1 in phi1 27.499 * [backup-simplify]: Simplify 0 into 0 27.499 * [backup-simplify]: Simplify 1 into 1 27.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.500 * [backup-simplify]: Simplify (+ 1 0) into 1 27.500 * [taylor]: Taking taylor expansion of 1 in theta 27.500 * [backup-simplify]: Simplify 1 into 1 27.500 * [backup-simplify]: Simplify 1 into 1 27.501 * [backup-simplify]: Simplify (+ 0) into 0 27.501 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.502 * [backup-simplify]: Simplify (+ 0) into 0 27.502 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 27.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.503 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 27.504 * [backup-simplify]: Simplify (- 0) into 0 27.504 * [backup-simplify]: Simplify (+ 0 0) into 0 27.505 * [backup-simplify]: Simplify (+ 0) into 0 27.505 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 27.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.506 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 27.507 * [backup-simplify]: Simplify (- 0) into 0 27.507 * [backup-simplify]: Simplify (+ 0 0) into 0 27.507 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 27.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.509 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 27.509 * [backup-simplify]: Simplify (+ 0) into 0 27.509 * [backup-simplify]: Simplify (+ 0) into 0 27.509 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.510 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 27.510 * [backup-simplify]: Simplify (+ 0 0) into 0 27.511 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.511 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 27.511 * [backup-simplify]: Simplify (+ 0) into 0 27.511 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.512 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 27.512 * [backup-simplify]: Simplify (+ 0 0) into 0 27.512 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 27.513 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 27.513 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 27.513 * [backup-simplify]: Simplify (- (sin phi1)) into (- (sin phi1)) 27.513 * [backup-simplify]: Simplify (+ 0) into 0 27.513 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 27.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.514 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 27.514 * [backup-simplify]: Simplify (- 0) into 0 27.514 * [backup-simplify]: Simplify (+ 0 0) into 0 27.515 * [backup-simplify]: Simplify (+ 0) into 0 27.515 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 27.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.516 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 27.516 * [backup-simplify]: Simplify (- 0) into 0 27.516 * [backup-simplify]: Simplify (+ 0 0) into 0 27.516 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 27.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.517 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 27.517 * [backup-simplify]: Simplify (+ 0) into 0 27.518 * [backup-simplify]: Simplify (+ 0) into 0 27.518 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.519 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 27.519 * [backup-simplify]: Simplify (+ 0 0) into 0 27.519 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.519 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 27.519 * [backup-simplify]: Simplify (+ 0) into 0 27.520 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.520 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 27.521 * [backup-simplify]: Simplify (+ 0 0) into 0 27.521 * [backup-simplify]: Simplify (- 0) into 0 27.521 * [backup-simplify]: Simplify (+ (* (- (sin phi1)) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 27.521 * [backup-simplify]: Simplify (+ 0) into 0 27.522 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 27.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.522 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 27.523 * [backup-simplify]: Simplify (- 0) into 0 27.523 * [backup-simplify]: Simplify (+ 0 0) into 0 27.523 * [backup-simplify]: Simplify (+ 0) into 0 27.523 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 27.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.524 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 27.524 * [backup-simplify]: Simplify (- 0) into 0 27.525 * [backup-simplify]: Simplify (+ 0 0) into 0 27.525 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 27.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.525 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 27.526 * [backup-simplify]: Simplify (+ 0) into 0 27.526 * [backup-simplify]: Simplify (+ 0) into 0 27.527 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.527 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 27.528 * [backup-simplify]: Simplify (+ 0 0) into 0 27.528 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.528 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 27.528 * [backup-simplify]: Simplify (+ 0) into 0 27.528 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 27.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.529 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 27.529 * [backup-simplify]: Simplify (+ 0 0) into 0 27.530 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 27.530 * [backup-simplify]: Simplify (+ (- (* (sin phi1) (* (cos phi1) (cos theta)))) (* (sin phi1) (* (cos phi1) (cos theta)))) into 0 27.530 * [backup-simplify]: Simplify (+ (- (* (sin phi1) (* (cos phi1) (cos theta)))) 0) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 27.530 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 27.530 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 27.530 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.530 * [taylor]: Taking taylor expansion of phi1 in phi1 27.530 * [backup-simplify]: Simplify 0 into 0 27.530 * [backup-simplify]: Simplify 1 into 1 27.530 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 27.530 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 27.530 * [taylor]: Taking taylor expansion of phi1 in phi1 27.530 * [backup-simplify]: Simplify 0 into 0 27.530 * [backup-simplify]: Simplify 1 into 1 27.530 * [taylor]: Taking taylor expansion of (cos theta) in phi1 27.530 * [taylor]: Taking taylor expansion of theta in phi1 27.530 * [backup-simplify]: Simplify theta into theta 27.530 * [backup-simplify]: Simplify (cos theta) into (cos theta) 27.530 * [backup-simplify]: Simplify (sin theta) into (sin theta) 27.530 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 27.530 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 27.531 * [backup-simplify]: Simplify (- 0) into 0 27.531 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 27.531 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 27.531 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 27.531 * [backup-simplify]: Simplify (- 0) into 0 27.531 * [taylor]: Taking taylor expansion of 0 in theta 27.531 * [backup-simplify]: Simplify 0 into 0 27.531 * [backup-simplify]: Simplify 0 into 0 27.531 * [backup-simplify]: Simplify (+ 0 0) into 0 27.531 * [taylor]: Taking taylor expansion of 0 in theta 27.531 * [backup-simplify]: Simplify 0 into 0 27.531 * [backup-simplify]: Simplify 0 into 0 27.531 * [backup-simplify]: Simplify 0 into 0 27.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 27.532 * [backup-simplify]: Simplify (+ (* 1 -1/2) (+ (* 0 0) (* 0 1))) into -1/2 27.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.533 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 27.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.534 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 27.534 * [backup-simplify]: Simplify (- 0) into 0 27.535 * [backup-simplify]: Simplify (+ 0 0) into 0 27.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.536 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.536 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.536 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.537 * [backup-simplify]: Simplify (- 0) into 0 27.537 * [backup-simplify]: Simplify (+ 0 0) into 0 27.537 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 27.538 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.538 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 27.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 27.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.540 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.540 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.541 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.541 * [backup-simplify]: Simplify (+ 0 0) into 0 27.542 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 27.542 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 27.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.544 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.545 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.545 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.546 * [backup-simplify]: Simplify (+ 0 0) into 0 27.546 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 27.546 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 27.546 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 27.546 * [backup-simplify]: Simplify (- (sin phi1)) into (- (sin phi1)) 27.547 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.548 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 27.549 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.549 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 27.550 * [backup-simplify]: Simplify (- 0) into 0 27.550 * [backup-simplify]: Simplify (+ 0 0) into 0 27.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.552 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.553 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.553 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.554 * [backup-simplify]: Simplify (- 0) into 0 27.554 * [backup-simplify]: Simplify (+ 0 0) into 0 27.555 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 27.556 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.557 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 27.558 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 27.558 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.559 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.560 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.560 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.561 * [backup-simplify]: Simplify (+ 0 0) into 0 27.562 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 27.562 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 27.562 * [backup-simplify]: Simplify (- 0) into 0 27.563 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.564 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.564 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.565 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.565 * [backup-simplify]: Simplify (+ 0 0) into 0 27.566 * [backup-simplify]: Simplify (- 0) into 0 27.566 * [backup-simplify]: Simplify (+ (* (- (sin phi1)) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (* 1/2 (pow (sin phi1) 2)) 27.567 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.567 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 27.568 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.569 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 27.569 * [backup-simplify]: Simplify (- 0) into 0 27.569 * [backup-simplify]: Simplify (+ 0 0) into 0 27.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.571 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.572 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.572 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.573 * [backup-simplify]: Simplify (- 0) into 0 27.573 * [backup-simplify]: Simplify (+ 0 0) into 0 27.573 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 27.574 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.575 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 27.576 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 27.577 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.578 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.578 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.579 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.579 * [backup-simplify]: Simplify (+ 0 0) into 0 27.580 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 27.580 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 27.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.582 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 27.582 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.583 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 27.583 * [backup-simplify]: Simplify (+ 0 0) into 0 27.584 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 27.584 * [backup-simplify]: Simplify (+ (* 1/2 (pow (sin phi1) 2)) (- (* 1/2 (pow (sin phi1) 2)))) into 0 27.584 * [backup-simplify]: Simplify (+ (- (* 1/2 (pow (sin phi1) 2)) 1/2) 0) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 27.584 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 27.584 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 27.584 * [taylor]: Taking taylor expansion of 1/2 in phi1 27.584 * [backup-simplify]: Simplify 1/2 into 1/2 27.584 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 27.584 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 27.584 * [taylor]: Taking taylor expansion of phi1 in phi1 27.584 * [backup-simplify]: Simplify 0 into 0 27.584 * [backup-simplify]: Simplify 1 into 1 27.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.585 * [taylor]: Taking taylor expansion of 1/2 in phi1 27.585 * [backup-simplify]: Simplify 1/2 into 1/2 27.586 * [backup-simplify]: Simplify (- 1/2) into -1/2 27.586 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 27.586 * [taylor]: Taking taylor expansion of -1/2 in theta 27.586 * [backup-simplify]: Simplify -1/2 into -1/2 27.586 * [backup-simplify]: Simplify -1/2 into -1/2 27.587 * [backup-simplify]: Simplify (+ 0) into 0 27.587 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 27.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.588 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 27.589 * [backup-simplify]: Simplify (- 0) into 0 27.589 * [backup-simplify]: Simplify (+ 0 0) into 0 27.589 * [backup-simplify]: Simplify (+ 0) into 0 27.589 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 27.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 27.590 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 27.590 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 27.590 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 27.590 * [taylor]: Taking taylor expansion of (cos theta) in theta 27.590 * [taylor]: Taking taylor expansion of theta in theta 27.590 * [backup-simplify]: Simplify 0 into 0 27.590 * [backup-simplify]: Simplify 1 into 1 27.591 * [backup-simplify]: Simplify (- 1) into -1 27.591 * [backup-simplify]: Simplify -1 into -1 27.591 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 27.592 * [backup-simplify]: Simplify (log (exp (+ (cbrt (* (* (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))))))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))))) (fma (- (sin (/ 1 phi1))) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))))) (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))))) into (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) 27.592 * [approximate]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in (delta phi1 theta) around 0 27.593 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in theta 27.593 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in theta 27.593 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.593 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 27.593 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in theta 27.593 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.593 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.593 * [taylor]: Taking taylor expansion of phi1 in theta 27.593 * [backup-simplify]: Simplify phi1 into phi1 27.593 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.593 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.593 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.593 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 27.593 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.593 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 27.593 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.593 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.593 * [taylor]: Taking taylor expansion of delta in theta 27.593 * [backup-simplify]: Simplify delta into delta 27.593 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.593 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.593 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.593 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 27.593 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.593 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.593 * [taylor]: Taking taylor expansion of theta in theta 27.593 * [backup-simplify]: Simplify 0 into 0 27.593 * [backup-simplify]: Simplify 1 into 1 27.598 * [backup-simplify]: Simplify (/ 1 1) into 1 27.598 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.598 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.598 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.598 * [taylor]: Taking taylor expansion of phi1 in theta 27.598 * [backup-simplify]: Simplify phi1 into phi1 27.598 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.598 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.598 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.598 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 27.598 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.598 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.598 * [taylor]: Taking taylor expansion of delta in theta 27.598 * [backup-simplify]: Simplify delta into delta 27.598 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.598 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.598 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.598 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.598 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.599 * [taylor]: Taking taylor expansion of phi1 in theta 27.599 * [backup-simplify]: Simplify phi1 into phi1 27.599 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.599 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.599 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.599 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 27.599 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 27.599 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.599 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 27.599 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.599 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.599 * [taylor]: Taking taylor expansion of delta in theta 27.599 * [backup-simplify]: Simplify delta into delta 27.599 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.599 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.599 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.599 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 27.599 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.599 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.599 * [taylor]: Taking taylor expansion of theta in theta 27.599 * [backup-simplify]: Simplify 0 into 0 27.599 * [backup-simplify]: Simplify 1 into 1 27.600 * [backup-simplify]: Simplify (/ 1 1) into 1 27.600 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.600 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.600 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.600 * [taylor]: Taking taylor expansion of phi1 in theta 27.600 * [backup-simplify]: Simplify phi1 into phi1 27.600 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.600 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.601 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.601 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 27.601 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.601 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.601 * [taylor]: Taking taylor expansion of delta in theta 27.601 * [backup-simplify]: Simplify delta into delta 27.601 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.601 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.601 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.601 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.601 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.601 * [taylor]: Taking taylor expansion of phi1 in theta 27.601 * [backup-simplify]: Simplify phi1 into phi1 27.601 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.601 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.601 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.601 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.601 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.601 * [taylor]: Taking taylor expansion of phi1 in theta 27.601 * [backup-simplify]: Simplify phi1 into phi1 27.601 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.601 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.601 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.601 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in theta 27.602 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 27.602 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in theta 27.602 * [taylor]: Taking taylor expansion of 1 in theta 27.602 * [backup-simplify]: Simplify 1 into 1 27.602 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.602 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.602 * [taylor]: Taking taylor expansion of delta in theta 27.602 * [backup-simplify]: Simplify delta into delta 27.602 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.602 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.602 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.602 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in theta 27.602 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 27.602 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.602 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.602 * [taylor]: Taking taylor expansion of phi1 in theta 27.602 * [backup-simplify]: Simplify phi1 into phi1 27.602 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.602 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.602 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.602 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 27.602 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.602 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 27.602 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.602 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.602 * [taylor]: Taking taylor expansion of delta in theta 27.603 * [backup-simplify]: Simplify delta into delta 27.603 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.603 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.603 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.603 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 27.603 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.603 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.603 * [taylor]: Taking taylor expansion of theta in theta 27.603 * [backup-simplify]: Simplify 0 into 0 27.603 * [backup-simplify]: Simplify 1 into 1 27.603 * [backup-simplify]: Simplify (/ 1 1) into 1 27.603 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.604 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.604 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.604 * [taylor]: Taking taylor expansion of phi1 in theta 27.604 * [backup-simplify]: Simplify phi1 into phi1 27.604 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.604 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.604 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.604 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 27.604 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.604 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.604 * [taylor]: Taking taylor expansion of delta in theta 27.604 * [backup-simplify]: Simplify delta into delta 27.604 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.604 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.604 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.604 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.604 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.604 * [taylor]: Taking taylor expansion of phi1 in theta 27.604 * [backup-simplify]: Simplify phi1 into phi1 27.604 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.604 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.604 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.604 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in phi1 27.605 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in phi1 27.605 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.605 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 27.605 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in phi1 27.605 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.605 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.605 * [taylor]: Taking taylor expansion of phi1 in phi1 27.605 * [backup-simplify]: Simplify 0 into 0 27.605 * [backup-simplify]: Simplify 1 into 1 27.605 * [backup-simplify]: Simplify (/ 1 1) into 1 27.605 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.605 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 27.605 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.605 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.606 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.606 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.606 * [taylor]: Taking taylor expansion of delta in phi1 27.606 * [backup-simplify]: Simplify delta into delta 27.606 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.606 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.606 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.606 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.606 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.606 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.606 * [taylor]: Taking taylor expansion of theta in phi1 27.606 * [backup-simplify]: Simplify theta into theta 27.606 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.606 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.606 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.606 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.606 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.606 * [taylor]: Taking taylor expansion of phi1 in phi1 27.606 * [backup-simplify]: Simplify 0 into 0 27.606 * [backup-simplify]: Simplify 1 into 1 27.607 * [backup-simplify]: Simplify (/ 1 1) into 1 27.607 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.607 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 27.607 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.607 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.607 * [taylor]: Taking taylor expansion of delta in phi1 27.607 * [backup-simplify]: Simplify delta into delta 27.607 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.607 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.607 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.607 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.607 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.607 * [taylor]: Taking taylor expansion of phi1 in phi1 27.607 * [backup-simplify]: Simplify 0 into 0 27.607 * [backup-simplify]: Simplify 1 into 1 27.608 * [backup-simplify]: Simplify (/ 1 1) into 1 27.608 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.608 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in phi1 27.608 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 27.608 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.608 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.608 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.608 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.608 * [taylor]: Taking taylor expansion of delta in phi1 27.608 * [backup-simplify]: Simplify delta into delta 27.608 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.608 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.608 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.608 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.608 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.608 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.608 * [taylor]: Taking taylor expansion of theta in phi1 27.608 * [backup-simplify]: Simplify theta into theta 27.608 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.608 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.609 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.609 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.609 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.609 * [taylor]: Taking taylor expansion of phi1 in phi1 27.609 * [backup-simplify]: Simplify 0 into 0 27.609 * [backup-simplify]: Simplify 1 into 1 27.609 * [backup-simplify]: Simplify (/ 1 1) into 1 27.609 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.609 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 27.609 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.609 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.609 * [taylor]: Taking taylor expansion of delta in phi1 27.609 * [backup-simplify]: Simplify delta into delta 27.609 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.609 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.609 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.610 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.610 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.610 * [taylor]: Taking taylor expansion of phi1 in phi1 27.610 * [backup-simplify]: Simplify 0 into 0 27.610 * [backup-simplify]: Simplify 1 into 1 27.610 * [backup-simplify]: Simplify (/ 1 1) into 1 27.610 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.610 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.610 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.610 * [taylor]: Taking taylor expansion of phi1 in phi1 27.610 * [backup-simplify]: Simplify 0 into 0 27.610 * [backup-simplify]: Simplify 1 into 1 27.611 * [backup-simplify]: Simplify (/ 1 1) into 1 27.611 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.611 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in phi1 27.611 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 27.611 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in phi1 27.611 * [taylor]: Taking taylor expansion of 1 in phi1 27.611 * [backup-simplify]: Simplify 1 into 1 27.611 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.611 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.611 * [taylor]: Taking taylor expansion of delta in phi1 27.611 * [backup-simplify]: Simplify delta into delta 27.611 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.611 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.611 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.611 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in phi1 27.611 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 27.611 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.611 * [taylor]: Taking taylor expansion of phi1 in phi1 27.611 * [backup-simplify]: Simplify 0 into 0 27.611 * [backup-simplify]: Simplify 1 into 1 27.612 * [backup-simplify]: Simplify (/ 1 1) into 1 27.612 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.612 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 27.612 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.612 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.612 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.612 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.612 * [taylor]: Taking taylor expansion of delta in phi1 27.612 * [backup-simplify]: Simplify delta into delta 27.612 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.612 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.612 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.612 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.612 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.612 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.612 * [taylor]: Taking taylor expansion of theta in phi1 27.613 * [backup-simplify]: Simplify theta into theta 27.613 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.613 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.613 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.613 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.613 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.613 * [taylor]: Taking taylor expansion of phi1 in phi1 27.613 * [backup-simplify]: Simplify 0 into 0 27.613 * [backup-simplify]: Simplify 1 into 1 27.613 * [backup-simplify]: Simplify (/ 1 1) into 1 27.613 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.613 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 27.613 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.613 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.613 * [taylor]: Taking taylor expansion of delta in phi1 27.613 * [backup-simplify]: Simplify delta into delta 27.614 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.614 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.614 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.614 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.614 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.614 * [taylor]: Taking taylor expansion of phi1 in phi1 27.614 * [backup-simplify]: Simplify 0 into 0 27.614 * [backup-simplify]: Simplify 1 into 1 27.615 * [backup-simplify]: Simplify (/ 1 1) into 1 27.615 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.615 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in delta 27.615 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 27.615 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.615 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 27.615 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in delta 27.615 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.615 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.615 * [taylor]: Taking taylor expansion of phi1 in delta 27.615 * [backup-simplify]: Simplify phi1 into phi1 27.615 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.615 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.615 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.615 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.615 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.615 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.615 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.615 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.615 * [taylor]: Taking taylor expansion of delta in delta 27.615 * [backup-simplify]: Simplify 0 into 0 27.615 * [backup-simplify]: Simplify 1 into 1 27.616 * [backup-simplify]: Simplify (/ 1 1) into 1 27.616 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.616 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.616 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.616 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.616 * [taylor]: Taking taylor expansion of theta in delta 27.616 * [backup-simplify]: Simplify theta into theta 27.616 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.616 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.616 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.616 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.616 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.616 * [taylor]: Taking taylor expansion of phi1 in delta 27.616 * [backup-simplify]: Simplify phi1 into phi1 27.616 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.617 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.617 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.617 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.617 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.617 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.617 * [taylor]: Taking taylor expansion of delta in delta 27.617 * [backup-simplify]: Simplify 0 into 0 27.617 * [backup-simplify]: Simplify 1 into 1 27.617 * [backup-simplify]: Simplify (/ 1 1) into 1 27.617 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.617 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.617 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.617 * [taylor]: Taking taylor expansion of phi1 in delta 27.617 * [backup-simplify]: Simplify phi1 into phi1 27.617 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.617 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.618 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.618 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 27.618 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.618 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.618 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.618 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.618 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.618 * [taylor]: Taking taylor expansion of delta in delta 27.618 * [backup-simplify]: Simplify 0 into 0 27.618 * [backup-simplify]: Simplify 1 into 1 27.618 * [backup-simplify]: Simplify (/ 1 1) into 1 27.618 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.618 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.618 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.618 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.618 * [taylor]: Taking taylor expansion of theta in delta 27.618 * [backup-simplify]: Simplify theta into theta 27.618 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.619 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.619 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.619 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.619 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.619 * [taylor]: Taking taylor expansion of phi1 in delta 27.619 * [backup-simplify]: Simplify phi1 into phi1 27.619 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.619 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.619 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.619 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.619 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.619 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.619 * [taylor]: Taking taylor expansion of delta in delta 27.619 * [backup-simplify]: Simplify 0 into 0 27.619 * [backup-simplify]: Simplify 1 into 1 27.620 * [backup-simplify]: Simplify (/ 1 1) into 1 27.620 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.620 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.620 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.620 * [taylor]: Taking taylor expansion of phi1 in delta 27.620 * [backup-simplify]: Simplify phi1 into phi1 27.620 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.620 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.620 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.620 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.620 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.620 * [taylor]: Taking taylor expansion of phi1 in delta 27.620 * [backup-simplify]: Simplify phi1 into phi1 27.620 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.620 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.620 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.620 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 27.620 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 27.620 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 27.620 * [taylor]: Taking taylor expansion of 1 in delta 27.620 * [backup-simplify]: Simplify 1 into 1 27.620 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.620 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.620 * [taylor]: Taking taylor expansion of delta in delta 27.620 * [backup-simplify]: Simplify 0 into 0 27.621 * [backup-simplify]: Simplify 1 into 1 27.621 * [backup-simplify]: Simplify (/ 1 1) into 1 27.621 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.621 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 27.621 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 27.621 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.621 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.621 * [taylor]: Taking taylor expansion of phi1 in delta 27.621 * [backup-simplify]: Simplify phi1 into phi1 27.621 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.621 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.621 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.621 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.621 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.622 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.622 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.622 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.622 * [taylor]: Taking taylor expansion of delta in delta 27.622 * [backup-simplify]: Simplify 0 into 0 27.622 * [backup-simplify]: Simplify 1 into 1 27.622 * [backup-simplify]: Simplify (/ 1 1) into 1 27.622 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.622 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.622 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.622 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.622 * [taylor]: Taking taylor expansion of theta in delta 27.622 * [backup-simplify]: Simplify theta into theta 27.622 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.622 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.622 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.622 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.622 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.622 * [taylor]: Taking taylor expansion of phi1 in delta 27.623 * [backup-simplify]: Simplify phi1 into phi1 27.623 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.623 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.623 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.623 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.623 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.623 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.623 * [taylor]: Taking taylor expansion of delta in delta 27.623 * [backup-simplify]: Simplify 0 into 0 27.623 * [backup-simplify]: Simplify 1 into 1 27.623 * [backup-simplify]: Simplify (/ 1 1) into 1 27.623 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.623 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.623 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.623 * [taylor]: Taking taylor expansion of phi1 in delta 27.623 * [backup-simplify]: Simplify phi1 into phi1 27.623 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.624 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.624 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.624 * [taylor]: Taking taylor expansion of (+ (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) in delta 27.624 * [taylor]: Taking taylor expansion of (fma (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) in delta 27.624 * [taylor]: Rewrote expression to (+ (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) 27.624 * [taylor]: Taking taylor expansion of (* (- (sin (/ 1 phi1))) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 27.624 * [taylor]: Taking taylor expansion of (- (sin (/ 1 phi1))) in delta 27.624 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.624 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.624 * [taylor]: Taking taylor expansion of phi1 in delta 27.624 * [backup-simplify]: Simplify phi1 into phi1 27.624 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.624 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.624 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.624 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.624 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.624 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.624 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.624 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.624 * [taylor]: Taking taylor expansion of delta in delta 27.624 * [backup-simplify]: Simplify 0 into 0 27.624 * [backup-simplify]: Simplify 1 into 1 27.625 * [backup-simplify]: Simplify (/ 1 1) into 1 27.625 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.625 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.625 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.625 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.625 * [taylor]: Taking taylor expansion of theta in delta 27.625 * [backup-simplify]: Simplify theta into theta 27.625 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.625 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.625 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.625 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.625 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.625 * [taylor]: Taking taylor expansion of phi1 in delta 27.625 * [backup-simplify]: Simplify phi1 into phi1 27.625 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.625 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.625 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.626 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.626 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.626 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.626 * [taylor]: Taking taylor expansion of delta in delta 27.626 * [backup-simplify]: Simplify 0 into 0 27.626 * [backup-simplify]: Simplify 1 into 1 27.626 * [backup-simplify]: Simplify (/ 1 1) into 1 27.626 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.626 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.626 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.626 * [taylor]: Taking taylor expansion of phi1 in delta 27.626 * [backup-simplify]: Simplify phi1 into phi1 27.626 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.626 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.626 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.627 * [taylor]: Taking taylor expansion of (* (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in delta 27.627 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.627 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.627 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.627 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.627 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.627 * [taylor]: Taking taylor expansion of delta in delta 27.627 * [backup-simplify]: Simplify 0 into 0 27.627 * [backup-simplify]: Simplify 1 into 1 27.627 * [backup-simplify]: Simplify (/ 1 1) into 1 27.627 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.627 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.628 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.628 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.628 * [taylor]: Taking taylor expansion of theta in delta 27.628 * [backup-simplify]: Simplify theta into theta 27.628 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.628 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.628 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.628 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.628 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.628 * [taylor]: Taking taylor expansion of phi1 in delta 27.628 * [backup-simplify]: Simplify phi1 into phi1 27.628 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.628 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.628 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.628 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.628 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.628 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.628 * [taylor]: Taking taylor expansion of delta in delta 27.628 * [backup-simplify]: Simplify 0 into 0 27.628 * [backup-simplify]: Simplify 1 into 1 27.629 * [backup-simplify]: Simplify (/ 1 1) into 1 27.629 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.629 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.629 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.629 * [taylor]: Taking taylor expansion of phi1 in delta 27.629 * [backup-simplify]: Simplify phi1 into phi1 27.629 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.629 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.629 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.630 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.630 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.630 * [taylor]: Taking taylor expansion of phi1 in delta 27.630 * [backup-simplify]: Simplify phi1 into phi1 27.630 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.630 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.630 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.630 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 27.630 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 27.630 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 27.630 * [taylor]: Taking taylor expansion of 1 in delta 27.630 * [backup-simplify]: Simplify 1 into 1 27.630 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.630 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.630 * [taylor]: Taking taylor expansion of delta in delta 27.630 * [backup-simplify]: Simplify 0 into 0 27.630 * [backup-simplify]: Simplify 1 into 1 27.631 * [backup-simplify]: Simplify (/ 1 1) into 1 27.631 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.631 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 27.631 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 27.631 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.631 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.631 * [taylor]: Taking taylor expansion of phi1 in delta 27.631 * [backup-simplify]: Simplify phi1 into phi1 27.631 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.631 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.631 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.631 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 27.632 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 27.632 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 27.632 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 27.632 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.632 * [taylor]: Taking taylor expansion of delta in delta 27.632 * [backup-simplify]: Simplify 0 into 0 27.632 * [backup-simplify]: Simplify 1 into 1 27.632 * [backup-simplify]: Simplify (/ 1 1) into 1 27.632 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.632 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 27.632 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 27.632 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 27.633 * [taylor]: Taking taylor expansion of theta in delta 27.633 * [backup-simplify]: Simplify theta into theta 27.633 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.633 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.633 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.633 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 27.633 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.633 * [taylor]: Taking taylor expansion of phi1 in delta 27.633 * [backup-simplify]: Simplify phi1 into phi1 27.633 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.633 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.633 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.633 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 27.633 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 27.633 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 27.633 * [taylor]: Taking taylor expansion of delta in delta 27.633 * [backup-simplify]: Simplify 0 into 0 27.633 * [backup-simplify]: Simplify 1 into 1 27.634 * [backup-simplify]: Simplify (/ 1 1) into 1 27.634 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.634 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 27.634 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 27.634 * [taylor]: Taking taylor expansion of phi1 in delta 27.634 * [backup-simplify]: Simplify phi1 into phi1 27.634 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.634 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.634 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.635 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.635 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.635 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.635 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 27.635 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.635 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.636 * [backup-simplify]: Simplify (- 0) into 0 27.636 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.636 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.636 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.636 * [backup-simplify]: Simplify (- 0) into 0 27.637 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.637 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 27.637 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.637 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.637 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.637 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.637 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 27.638 * [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))))) 27.638 * [backup-simplify]: Simplify (* (- (sin (/ 1 phi1))) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) 27.638 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.638 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.639 * [backup-simplify]: Simplify (- 0) into 0 27.639 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.639 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.639 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.640 * [backup-simplify]: Simplify (- 0) into 0 27.640 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.640 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 27.640 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.640 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.640 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.640 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.640 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 27.641 * [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))))) 27.641 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.641 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.641 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.641 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 27.642 * [backup-simplify]: Simplify (+ (* -1 (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.643 * [backup-simplify]: Simplify (* 1 (cos (/ 1 delta))) into (cos (/ 1 delta)) 27.643 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.643 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.643 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.643 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.643 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.644 * [backup-simplify]: Simplify (- 0) into 0 27.644 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.644 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.644 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.644 * [backup-simplify]: Simplify (- 0) into 0 27.644 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.644 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 27.645 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.645 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.645 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.645 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.645 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 27.645 * [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))))) 27.646 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 27.646 * [backup-simplify]: Simplify (- (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 27.647 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 27.649 * [backup-simplify]: Simplify (+ (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.649 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in phi1 27.649 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.649 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.649 * [taylor]: Taking taylor expansion of delta in phi1 27.649 * [backup-simplify]: Simplify delta into delta 27.649 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.649 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.649 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.649 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in phi1 27.649 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 27.649 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.649 * [taylor]: Taking taylor expansion of phi1 in phi1 27.649 * [backup-simplify]: Simplify 0 into 0 27.649 * [backup-simplify]: Simplify 1 into 1 27.650 * [backup-simplify]: Simplify (/ 1 1) into 1 27.650 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.650 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 27.650 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 27.650 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.650 * [taylor]: Taking taylor expansion of delta in phi1 27.650 * [backup-simplify]: Simplify delta into delta 27.650 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.650 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.650 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.650 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 27.650 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 27.650 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 27.650 * [taylor]: Taking taylor expansion of theta in phi1 27.650 * [backup-simplify]: Simplify theta into theta 27.650 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 27.650 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.650 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 27.650 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 27.650 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.650 * [taylor]: Taking taylor expansion of phi1 in phi1 27.651 * [backup-simplify]: Simplify 0 into 0 27.651 * [backup-simplify]: Simplify 1 into 1 27.651 * [backup-simplify]: Simplify (/ 1 1) into 1 27.651 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.651 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 27.651 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 27.651 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 27.651 * [taylor]: Taking taylor expansion of delta in phi1 27.651 * [backup-simplify]: Simplify delta into delta 27.651 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.651 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.651 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.651 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 27.651 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 27.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.651 * [taylor]: Taking taylor expansion of phi1 in phi1 27.651 * [backup-simplify]: Simplify 0 into 0 27.651 * [backup-simplify]: Simplify 1 into 1 27.652 * [backup-simplify]: Simplify (/ 1 1) into 1 27.652 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.652 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.652 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.652 * [backup-simplify]: Simplify (- 0) into 0 27.653 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.653 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 27.653 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 27.653 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 27.653 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 27.653 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 27.653 * [backup-simplify]: Simplify (- 0) into 0 27.653 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 27.654 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 27.654 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 27.654 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 27.654 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.654 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.654 * [backup-simplify]: Simplify (- 0) into 0 27.655 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.655 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 27.655 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 27.655 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 27.656 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.657 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.657 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 27.657 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.657 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.657 * [taylor]: Taking taylor expansion of delta in theta 27.657 * [backup-simplify]: Simplify delta into delta 27.657 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.657 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.657 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.657 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 27.657 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in theta 27.657 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.657 * [taylor]: Taking taylor expansion of phi1 in theta 27.657 * [backup-simplify]: Simplify phi1 into phi1 27.657 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.657 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.657 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.657 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 27.657 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 27.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.657 * [taylor]: Taking taylor expansion of phi1 in theta 27.658 * [backup-simplify]: Simplify phi1 into phi1 27.658 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.658 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.658 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.658 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 27.658 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 27.658 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 27.658 * [taylor]: Taking taylor expansion of theta in theta 27.658 * [backup-simplify]: Simplify 0 into 0 27.658 * [backup-simplify]: Simplify 1 into 1 27.658 * [backup-simplify]: Simplify (/ 1 1) into 1 27.658 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 27.658 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 27.658 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.659 * [taylor]: Taking taylor expansion of delta in theta 27.659 * [backup-simplify]: Simplify delta into delta 27.659 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.659 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.659 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.659 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 27.659 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 27.659 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 27.659 * [taylor]: Taking taylor expansion of delta in theta 27.659 * [backup-simplify]: Simplify delta into delta 27.659 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 27.659 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 27.659 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 27.659 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 27.659 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 27.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 27.659 * [taylor]: Taking taylor expansion of phi1 in theta 27.659 * [backup-simplify]: Simplify phi1 into phi1 27.659 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.659 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 27.659 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 27.659 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.660 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.660 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.660 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.660 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.660 * [backup-simplify]: Simplify (- 0) into 0 27.660 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.660 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 27.660 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 27.661 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 27.661 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 27.661 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 27.661 * [backup-simplify]: Simplify (- 0) into 0 27.661 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 27.661 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 27.661 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 27.661 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 27.662 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 27.662 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 27.662 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) 27.662 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 27.662 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 27.663 * [backup-simplify]: Simplify (- 0) into 0 27.663 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 27.663 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 27.663 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 27.663 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 27.664 * [backup-simplify]: Simplify (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.665 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 27.666 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 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))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 27.666 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 27.666 * [backup-simplify]: Simplify (+ 0) into 0 27.667 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.667 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.668 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.669 * [backup-simplify]: Simplify (- 0) into 0 27.669 * [backup-simplify]: Simplify (+ 0 0) into 0 27.669 * [backup-simplify]: Simplify (+ 0) into 0 27.670 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.671 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.671 * [backup-simplify]: Simplify (- 0) into 0 27.672 * [backup-simplify]: Simplify (+ 0 0) into 0 27.672 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 27.672 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 27.672 * [backup-simplify]: Simplify (+ 0) into 0 27.673 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.674 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.675 * [backup-simplify]: Simplify (+ 0 0) into 0 27.675 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.675 * [backup-simplify]: Simplify (+ 0 0) into 0 27.675 * [backup-simplify]: Simplify (+ 0) into 0 27.676 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.676 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.677 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.678 * [backup-simplify]: Simplify (+ 0 0) into 0 27.678 * [backup-simplify]: Simplify (- 0) into 0 27.678 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 27.679 * [backup-simplify]: Simplify (+ 0) into 0 27.679 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.679 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.680 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.681 * [backup-simplify]: Simplify (+ 0 0) into 0 27.681 * [backup-simplify]: Simplify (+ 0) into 0 27.682 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.682 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.683 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.683 * [backup-simplify]: Simplify (- 0) into 0 27.684 * [backup-simplify]: Simplify (+ 0 0) into 0 27.684 * [backup-simplify]: Simplify (+ 0) into 0 27.684 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.685 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.686 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.686 * [backup-simplify]: Simplify (- 0) into 0 27.687 * [backup-simplify]: Simplify (+ 0 0) into 0 27.687 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 27.687 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 27.687 * [backup-simplify]: Simplify (+ 0) into 0 27.688 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.688 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.689 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.689 * [backup-simplify]: Simplify (+ 0 0) into 0 27.690 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.690 * [backup-simplify]: Simplify (+ 0 0) into 0 27.690 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.691 * [backup-simplify]: Simplify (+ 0 0) into 0 27.691 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ 1 delta)))) into 0 27.692 * [backup-simplify]: Simplify (+ 0) into 0 27.692 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.694 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.694 * [backup-simplify]: Simplify (- 0) into 0 27.694 * [backup-simplify]: Simplify (+ 0 0) into 0 27.695 * [backup-simplify]: Simplify (+ 0) into 0 27.695 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.695 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.697 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.697 * [backup-simplify]: Simplify (- 0) into 0 27.697 * [backup-simplify]: Simplify (+ 0 0) into 0 27.697 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 27.698 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 27.698 * [backup-simplify]: Simplify (+ 0) into 0 27.699 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.699 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.700 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.700 * [backup-simplify]: Simplify (+ 0 0) into 0 27.700 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.701 * [backup-simplify]: Simplify (+ 0 0) into 0 27.701 * [backup-simplify]: Simplify (+ 0) into 0 27.702 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.702 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.703 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.703 * [backup-simplify]: Simplify (+ 0 0) into 0 27.704 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 27.704 * [backup-simplify]: Simplify (- 0) into 0 27.705 * [backup-simplify]: Simplify (+ 0 0) into 0 27.705 * [backup-simplify]: Simplify (+ 0 0) into 0 27.705 * [taylor]: Taking taylor expansion of 0 in phi1 27.705 * [backup-simplify]: Simplify 0 into 0 27.705 * [taylor]: Taking taylor expansion of 0 in theta 27.705 * [backup-simplify]: Simplify 0 into 0 27.705 * [backup-simplify]: Simplify 0 into 0 27.705 * [backup-simplify]: Simplify (+ 0) into 0 27.706 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.707 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.708 * [backup-simplify]: Simplify (- 0) into 0 27.708 * [backup-simplify]: Simplify (+ 0 0) into 0 27.708 * [backup-simplify]: Simplify (+ 0) into 0 27.709 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 27.709 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 27.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.710 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 27.711 * [backup-simplify]: Simplify (- 0) into 0 27.711 * [backup-simplify]: Simplify (+ 0 0) into 0 27.711 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 27.712 * [backup-simplify]: Simplify (+ 0) into 0 27.712 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 27.712 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.713 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.713 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 27.714 * [backup-simplify]: Simplify (+ 0 0) into 0 27.714 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 27.714 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 27.714 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.715 * [backup-simplify]: Simplify (+ 0) into 0 27.716 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.716 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.717 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.717 * [backup-simplify]: Simplify (- 0) into 0 27.718 * [backup-simplify]: Simplify (+ 0 0) into 0 27.718 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 27.718 * [backup-simplify]: Simplify (+ 0 0) into 0 27.719 * [backup-simplify]: Simplify (- 0) into 0 27.719 * [backup-simplify]: Simplify (+ 0 0) into 0 27.719 * [taylor]: Taking taylor expansion of 0 in theta 27.719 * [backup-simplify]: Simplify 0 into 0 27.719 * [backup-simplify]: Simplify 0 into 0 27.719 * [backup-simplify]: Simplify (+ 0) into 0 27.720 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.720 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.721 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.722 * [backup-simplify]: Simplify (- 0) into 0 27.722 * [backup-simplify]: Simplify (+ 0 0) into 0 27.722 * [backup-simplify]: Simplify (+ 0) into 0 27.723 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 27.723 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.724 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 27.725 * [backup-simplify]: Simplify (+ 0 0) into 0 27.725 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 27.725 * [backup-simplify]: Simplify (+ 0) into 0 27.726 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 27.726 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.727 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 27.728 * [backup-simplify]: Simplify (- 0) into 0 27.728 * [backup-simplify]: Simplify (+ 0 0) into 0 27.728 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 27.729 * [backup-simplify]: Simplify (+ 0) into 0 27.729 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.729 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.731 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.731 * [backup-simplify]: Simplify (+ 0 0) into 0 27.731 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.732 * [backup-simplify]: Simplify (+ 0) into 0 27.732 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 27.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 27.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.734 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 27.734 * [backup-simplify]: Simplify (+ 0 0) into 0 27.734 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 27.734 * [backup-simplify]: Simplify (+ 0) into 0 27.735 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 27.735 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 27.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.736 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 27.737 * [backup-simplify]: Simplify (- 0) into 0 27.737 * [backup-simplify]: Simplify (+ 0 0) into 0 27.737 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 27.738 * [backup-simplify]: Simplify (+ 0 0) into 0 27.738 * [backup-simplify]: Simplify (- 0) into 0 27.738 * [backup-simplify]: Simplify (+ 0 0) into 0 27.738 * [backup-simplify]: Simplify 0 into 0 27.739 * [backup-simplify]: Simplify (- (sin (/ 1 phi1))) into (- (sin (/ 1 phi1))) 27.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.740 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.740 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.741 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.742 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.742 * [backup-simplify]: Simplify (- 0) into 0 27.742 * [backup-simplify]: Simplify (+ 0 0) into 0 27.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.744 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.744 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.745 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.746 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.746 * [backup-simplify]: Simplify (- 0) into 0 27.746 * [backup-simplify]: Simplify (+ 0 0) into 0 27.747 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 27.747 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.748 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.749 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.749 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.751 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.751 * [backup-simplify]: Simplify (+ 0 0) into 0 27.751 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.752 * [backup-simplify]: Simplify (+ 0 0) into 0 27.752 * [backup-simplify]: Simplify (- 0) into 0 27.757 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.758 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.758 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.759 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.759 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.760 * [backup-simplify]: Simplify (+ 0 0) into 0 27.760 * [backup-simplify]: Simplify (- 0) into 0 27.761 * [backup-simplify]: Simplify (+ (* (- (sin (/ 1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 27.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.763 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.763 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.764 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.764 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.765 * [backup-simplify]: Simplify (+ 0 0) into 0 27.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.766 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.767 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.768 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.768 * [backup-simplify]: Simplify (- 0) into 0 27.769 * [backup-simplify]: Simplify (+ 0 0) into 0 27.770 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.770 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.770 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.771 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.772 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.772 * [backup-simplify]: Simplify (- 0) into 0 27.773 * [backup-simplify]: Simplify (+ 0 0) into 0 27.773 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 27.774 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.775 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.775 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.776 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.777 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.777 * [backup-simplify]: Simplify (+ 0 0) into 0 27.778 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.778 * [backup-simplify]: Simplify (+ 0 0) into 0 27.779 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.779 * [backup-simplify]: Simplify (+ 0 0) into 0 27.780 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 27.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.781 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.783 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.783 * [backup-simplify]: Simplify (- 0) into 0 27.784 * [backup-simplify]: Simplify (+ 0 0) into 0 27.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.785 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.785 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.786 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.787 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.787 * [backup-simplify]: Simplify (- 0) into 0 27.788 * [backup-simplify]: Simplify (+ 0 0) into 0 27.788 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 27.789 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.789 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.790 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.790 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.791 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.792 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.792 * [backup-simplify]: Simplify (+ 0 0) into 0 27.792 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.793 * [backup-simplify]: Simplify (+ 0 0) into 0 27.794 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.794 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.795 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.795 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.796 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.796 * [backup-simplify]: Simplify (+ 0 0) into 0 27.797 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 27.798 * [backup-simplify]: Simplify (- 0) into 0 27.798 * [backup-simplify]: Simplify (+ 0 0) into 0 27.798 * [backup-simplify]: Simplify (+ 0 0) into 0 27.798 * [taylor]: Taking taylor expansion of 0 in phi1 27.798 * [backup-simplify]: Simplify 0 into 0 27.798 * [taylor]: Taking taylor expansion of 0 in theta 27.798 * [backup-simplify]: Simplify 0 into 0 27.798 * [backup-simplify]: Simplify 0 into 0 27.799 * [taylor]: Taking taylor expansion of 0 in theta 27.799 * [backup-simplify]: Simplify 0 into 0 27.799 * [backup-simplify]: Simplify 0 into 0 27.799 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.800 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.800 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.801 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.802 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.802 * [backup-simplify]: Simplify (- 0) into 0 27.802 * [backup-simplify]: Simplify (+ 0 0) into 0 27.803 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.804 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.804 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.805 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.806 * [backup-simplify]: Simplify (- 0) into 0 27.806 * [backup-simplify]: Simplify (+ 0 0) into 0 27.806 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 27.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.808 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.808 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.809 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.809 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.810 * [backup-simplify]: Simplify (+ 0 0) into 0 27.810 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 27.811 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 27.811 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 27.812 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.813 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.813 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 27.814 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.814 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.815 * [backup-simplify]: Simplify (- 0) into 0 27.815 * [backup-simplify]: Simplify (+ 0 0) into 0 27.816 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 27.816 * [backup-simplify]: Simplify (+ 0 0) into 0 27.816 * [backup-simplify]: Simplify (- 0) into 0 27.817 * [backup-simplify]: Simplify (+ 0 0) into 0 27.817 * [taylor]: Taking taylor expansion of 0 in theta 27.817 * [backup-simplify]: Simplify 0 into 0 27.817 * [backup-simplify]: Simplify 0 into 0 27.817 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (cos phi1) (* (sin delta) (* (cos theta) (sin phi1)))) (* (pow (sin phi1) 2) (cos delta)))) 27.820 * [backup-simplify]: Simplify (log (exp (+ (cbrt (* (* (fma 1 (cos (/ 1 (- delta))) (- (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))) (fma 1 (cos (/ 1 (- delta))) (- (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))))))) (fma 1 (cos (/ 1 (- delta))) (- (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))))) (fma (- (sin (/ 1 (- phi1)))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))))) into (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 27.820 * [approximate]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in (delta phi1 theta) around 0 27.820 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in theta 27.820 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in theta 27.820 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 27.820 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in theta 27.820 * [taylor]: Taking taylor expansion of 1 in theta 27.821 * [backup-simplify]: Simplify 1 into 1 27.821 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.821 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.821 * [taylor]: Taking taylor expansion of -1 in theta 27.821 * [backup-simplify]: Simplify -1 into -1 27.821 * [taylor]: Taking taylor expansion of delta in theta 27.821 * [backup-simplify]: Simplify delta into delta 27.821 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.821 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.821 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.821 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 27.821 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 27.821 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.821 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.821 * [taylor]: Taking taylor expansion of -1 in theta 27.821 * [backup-simplify]: Simplify -1 into -1 27.821 * [taylor]: Taking taylor expansion of phi1 in theta 27.821 * [backup-simplify]: Simplify phi1 into phi1 27.821 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.821 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.821 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.821 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 27.821 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.821 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 27.821 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.821 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.821 * [taylor]: Taking taylor expansion of -1 in theta 27.822 * [backup-simplify]: Simplify -1 into -1 27.822 * [taylor]: Taking taylor expansion of delta in theta 27.822 * [backup-simplify]: Simplify delta into delta 27.822 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.822 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.822 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.822 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 27.822 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.822 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.822 * [taylor]: Taking taylor expansion of -1 in theta 27.822 * [backup-simplify]: Simplify -1 into -1 27.822 * [taylor]: Taking taylor expansion of phi1 in theta 27.822 * [backup-simplify]: Simplify phi1 into phi1 27.822 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.822 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.822 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.822 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.822 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.822 * [taylor]: Taking taylor expansion of -1 in theta 27.822 * [backup-simplify]: Simplify -1 into -1 27.822 * [taylor]: Taking taylor expansion of theta in theta 27.822 * [backup-simplify]: Simplify 0 into 0 27.822 * [backup-simplify]: Simplify 1 into 1 27.823 * [backup-simplify]: Simplify (/ -1 1) into -1 27.823 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.823 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 27.823 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.823 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.823 * [taylor]: Taking taylor expansion of -1 in theta 27.823 * [backup-simplify]: Simplify -1 into -1 27.823 * [taylor]: Taking taylor expansion of phi1 in theta 27.823 * [backup-simplify]: Simplify phi1 into phi1 27.823 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.823 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.823 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.823 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.823 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.823 * [taylor]: Taking taylor expansion of -1 in theta 27.823 * [backup-simplify]: Simplify -1 into -1 27.823 * [taylor]: Taking taylor expansion of delta in theta 27.824 * [backup-simplify]: Simplify delta into delta 27.824 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.824 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.824 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.824 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 27.824 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.824 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 27.824 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in theta 27.824 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.824 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.824 * [taylor]: Taking taylor expansion of -1 in theta 27.824 * [backup-simplify]: Simplify -1 into -1 27.824 * [taylor]: Taking taylor expansion of phi1 in theta 27.824 * [backup-simplify]: Simplify phi1 into phi1 27.824 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.824 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.824 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.824 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 27.824 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.824 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 27.824 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.824 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.824 * [taylor]: Taking taylor expansion of -1 in theta 27.824 * [backup-simplify]: Simplify -1 into -1 27.824 * [taylor]: Taking taylor expansion of delta in theta 27.824 * [backup-simplify]: Simplify delta into delta 27.824 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.824 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.824 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.824 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 27.824 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.824 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.824 * [taylor]: Taking taylor expansion of -1 in theta 27.824 * [backup-simplify]: Simplify -1 into -1 27.824 * [taylor]: Taking taylor expansion of phi1 in theta 27.824 * [backup-simplify]: Simplify phi1 into phi1 27.824 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.824 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.824 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.824 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.824 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.825 * [taylor]: Taking taylor expansion of -1 in theta 27.825 * [backup-simplify]: Simplify -1 into -1 27.825 * [taylor]: Taking taylor expansion of theta in theta 27.825 * [backup-simplify]: Simplify 0 into 0 27.825 * [backup-simplify]: Simplify 1 into 1 27.825 * [backup-simplify]: Simplify (/ -1 1) into -1 27.825 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.825 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 27.825 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.825 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.825 * [taylor]: Taking taylor expansion of -1 in theta 27.825 * [backup-simplify]: Simplify -1 into -1 27.825 * [taylor]: Taking taylor expansion of phi1 in theta 27.825 * [backup-simplify]: Simplify phi1 into phi1 27.825 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.825 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.825 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.825 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.825 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.825 * [taylor]: Taking taylor expansion of -1 in theta 27.826 * [backup-simplify]: Simplify -1 into -1 27.826 * [taylor]: Taking taylor expansion of delta in theta 27.826 * [backup-simplify]: Simplify delta into delta 27.826 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.826 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.826 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.826 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 27.826 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.826 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.826 * [taylor]: Taking taylor expansion of -1 in theta 27.826 * [backup-simplify]: Simplify -1 into -1 27.826 * [taylor]: Taking taylor expansion of phi1 in theta 27.826 * [backup-simplify]: Simplify phi1 into phi1 27.826 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.826 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.826 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.826 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 27.826 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.826 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 27.826 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.826 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.826 * [taylor]: Taking taylor expansion of -1 in theta 27.826 * [backup-simplify]: Simplify -1 into -1 27.826 * [taylor]: Taking taylor expansion of delta in theta 27.826 * [backup-simplify]: Simplify delta into delta 27.826 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.826 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.826 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.826 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 27.826 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.826 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.826 * [taylor]: Taking taylor expansion of -1 in theta 27.826 * [backup-simplify]: Simplify -1 into -1 27.826 * [taylor]: Taking taylor expansion of phi1 in theta 27.826 * [backup-simplify]: Simplify phi1 into phi1 27.826 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.826 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.826 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.826 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.826 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.826 * [taylor]: Taking taylor expansion of -1 in theta 27.826 * [backup-simplify]: Simplify -1 into -1 27.826 * [taylor]: Taking taylor expansion of theta in theta 27.826 * [backup-simplify]: Simplify 0 into 0 27.826 * [backup-simplify]: Simplify 1 into 1 27.827 * [backup-simplify]: Simplify (/ -1 1) into -1 27.827 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.827 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 27.827 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.827 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.827 * [taylor]: Taking taylor expansion of -1 in theta 27.827 * [backup-simplify]: Simplify -1 into -1 27.827 * [taylor]: Taking taylor expansion of phi1 in theta 27.827 * [backup-simplify]: Simplify phi1 into phi1 27.827 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.827 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.827 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.827 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.827 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.827 * [taylor]: Taking taylor expansion of -1 in theta 27.827 * [backup-simplify]: Simplify -1 into -1 27.827 * [taylor]: Taking taylor expansion of delta in theta 27.827 * [backup-simplify]: Simplify delta into delta 27.827 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.827 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.827 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.827 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in phi1 27.827 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in phi1 27.827 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 27.827 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in phi1 27.828 * [taylor]: Taking taylor expansion of 1 in phi1 27.828 * [backup-simplify]: Simplify 1 into 1 27.828 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.828 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.828 * [taylor]: Taking taylor expansion of -1 in phi1 27.828 * [backup-simplify]: Simplify -1 into -1 27.828 * [taylor]: Taking taylor expansion of delta in phi1 27.828 * [backup-simplify]: Simplify delta into delta 27.828 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.828 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.828 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.828 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 27.828 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 27.828 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.828 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.828 * [taylor]: Taking taylor expansion of -1 in phi1 27.828 * [backup-simplify]: Simplify -1 into -1 27.828 * [taylor]: Taking taylor expansion of phi1 in phi1 27.828 * [backup-simplify]: Simplify 0 into 0 27.828 * [backup-simplify]: Simplify 1 into 1 27.828 * [backup-simplify]: Simplify (/ -1 1) into -1 27.828 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.828 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 27.828 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.828 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 27.828 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.828 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.828 * [taylor]: Taking taylor expansion of -1 in phi1 27.828 * [backup-simplify]: Simplify -1 into -1 27.828 * [taylor]: Taking taylor expansion of delta in phi1 27.828 * [backup-simplify]: Simplify delta into delta 27.829 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.829 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.829 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.829 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 27.829 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.829 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.829 * [taylor]: Taking taylor expansion of -1 in phi1 27.829 * [backup-simplify]: Simplify -1 into -1 27.829 * [taylor]: Taking taylor expansion of phi1 in phi1 27.829 * [backup-simplify]: Simplify 0 into 0 27.829 * [backup-simplify]: Simplify 1 into 1 27.829 * [backup-simplify]: Simplify (/ -1 1) into -1 27.829 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.830 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.830 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.830 * [taylor]: Taking taylor expansion of -1 in phi1 27.830 * [backup-simplify]: Simplify -1 into -1 27.830 * [taylor]: Taking taylor expansion of theta in phi1 27.830 * [backup-simplify]: Simplify theta into theta 27.830 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.830 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.830 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.830 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 27.830 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.830 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.830 * [taylor]: Taking taylor expansion of -1 in phi1 27.830 * [backup-simplify]: Simplify -1 into -1 27.830 * [taylor]: Taking taylor expansion of phi1 in phi1 27.830 * [backup-simplify]: Simplify 0 into 0 27.830 * [backup-simplify]: Simplify 1 into 1 27.831 * [backup-simplify]: Simplify (/ -1 1) into -1 27.831 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.831 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.831 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.831 * [taylor]: Taking taylor expansion of -1 in phi1 27.831 * [backup-simplify]: Simplify -1 into -1 27.831 * [taylor]: Taking taylor expansion of delta in phi1 27.831 * [backup-simplify]: Simplify delta into delta 27.831 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.831 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.831 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.831 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 27.831 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.831 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 27.831 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in phi1 27.831 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.831 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.831 * [taylor]: Taking taylor expansion of -1 in phi1 27.831 * [backup-simplify]: Simplify -1 into -1 27.831 * [taylor]: Taking taylor expansion of phi1 in phi1 27.831 * [backup-simplify]: Simplify 0 into 0 27.831 * [backup-simplify]: Simplify 1 into 1 27.832 * [backup-simplify]: Simplify (/ -1 1) into -1 27.832 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.832 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 27.832 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.832 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 27.832 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.832 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.832 * [taylor]: Taking taylor expansion of -1 in phi1 27.832 * [backup-simplify]: Simplify -1 into -1 27.832 * [taylor]: Taking taylor expansion of delta in phi1 27.832 * [backup-simplify]: Simplify delta into delta 27.832 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.832 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.832 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.832 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 27.833 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.833 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.833 * [taylor]: Taking taylor expansion of -1 in phi1 27.833 * [backup-simplify]: Simplify -1 into -1 27.833 * [taylor]: Taking taylor expansion of phi1 in phi1 27.833 * [backup-simplify]: Simplify 0 into 0 27.833 * [backup-simplify]: Simplify 1 into 1 27.833 * [backup-simplify]: Simplify (/ -1 1) into -1 27.833 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.833 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.833 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.833 * [taylor]: Taking taylor expansion of -1 in phi1 27.833 * [backup-simplify]: Simplify -1 into -1 27.833 * [taylor]: Taking taylor expansion of theta in phi1 27.833 * [backup-simplify]: Simplify theta into theta 27.833 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.834 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.834 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.834 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 27.834 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.834 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.834 * [taylor]: Taking taylor expansion of -1 in phi1 27.834 * [backup-simplify]: Simplify -1 into -1 27.834 * [taylor]: Taking taylor expansion of phi1 in phi1 27.834 * [backup-simplify]: Simplify 0 into 0 27.834 * [backup-simplify]: Simplify 1 into 1 27.834 * [backup-simplify]: Simplify (/ -1 1) into -1 27.834 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.834 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.834 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.835 * [taylor]: Taking taylor expansion of -1 in phi1 27.835 * [backup-simplify]: Simplify -1 into -1 27.835 * [taylor]: Taking taylor expansion of delta in phi1 27.835 * [backup-simplify]: Simplify delta into delta 27.835 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.835 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.835 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.835 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 27.835 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.835 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.835 * [taylor]: Taking taylor expansion of -1 in phi1 27.835 * [backup-simplify]: Simplify -1 into -1 27.835 * [taylor]: Taking taylor expansion of phi1 in phi1 27.835 * [backup-simplify]: Simplify 0 into 0 27.835 * [backup-simplify]: Simplify 1 into 1 27.835 * [backup-simplify]: Simplify (/ -1 1) into -1 27.836 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.836 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 27.836 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.836 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 27.836 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.836 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.836 * [taylor]: Taking taylor expansion of -1 in phi1 27.836 * [backup-simplify]: Simplify -1 into -1 27.836 * [taylor]: Taking taylor expansion of delta in phi1 27.836 * [backup-simplify]: Simplify delta into delta 27.836 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.836 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.836 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.836 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 27.836 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.836 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.836 * [taylor]: Taking taylor expansion of -1 in phi1 27.836 * [backup-simplify]: Simplify -1 into -1 27.836 * [taylor]: Taking taylor expansion of phi1 in phi1 27.836 * [backup-simplify]: Simplify 0 into 0 27.836 * [backup-simplify]: Simplify 1 into 1 27.837 * [backup-simplify]: Simplify (/ -1 1) into -1 27.837 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.837 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.837 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.837 * [taylor]: Taking taylor expansion of -1 in phi1 27.837 * [backup-simplify]: Simplify -1 into -1 27.837 * [taylor]: Taking taylor expansion of theta in phi1 27.837 * [backup-simplify]: Simplify theta into theta 27.837 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.837 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.837 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.837 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 27.837 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.837 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.837 * [taylor]: Taking taylor expansion of -1 in phi1 27.837 * [backup-simplify]: Simplify -1 into -1 27.837 * [taylor]: Taking taylor expansion of phi1 in phi1 27.837 * [backup-simplify]: Simplify 0 into 0 27.838 * [backup-simplify]: Simplify 1 into 1 27.838 * [backup-simplify]: Simplify (/ -1 1) into -1 27.838 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.838 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.838 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.838 * [taylor]: Taking taylor expansion of -1 in phi1 27.838 * [backup-simplify]: Simplify -1 into -1 27.838 * [taylor]: Taking taylor expansion of delta in phi1 27.838 * [backup-simplify]: Simplify delta into delta 27.838 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.838 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.838 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.838 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 27.839 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 27.839 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 27.839 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 27.839 * [taylor]: Taking taylor expansion of 1 in delta 27.839 * [backup-simplify]: Simplify 1 into 1 27.839 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.839 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.839 * [taylor]: Taking taylor expansion of -1 in delta 27.839 * [backup-simplify]: Simplify -1 into -1 27.839 * [taylor]: Taking taylor expansion of delta in delta 27.839 * [backup-simplify]: Simplify 0 into 0 27.839 * [backup-simplify]: Simplify 1 into 1 27.839 * [backup-simplify]: Simplify (/ -1 1) into -1 27.839 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.839 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 27.840 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.840 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.840 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.840 * [taylor]: Taking taylor expansion of -1 in delta 27.840 * [backup-simplify]: Simplify -1 into -1 27.840 * [taylor]: Taking taylor expansion of phi1 in delta 27.840 * [backup-simplify]: Simplify phi1 into phi1 27.840 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.840 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.840 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.840 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.840 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.840 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.840 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.840 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.840 * [taylor]: Taking taylor expansion of -1 in delta 27.840 * [backup-simplify]: Simplify -1 into -1 27.840 * [taylor]: Taking taylor expansion of delta in delta 27.840 * [backup-simplify]: Simplify 0 into 0 27.840 * [backup-simplify]: Simplify 1 into 1 27.841 * [backup-simplify]: Simplify (/ -1 1) into -1 27.841 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.841 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.841 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.841 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.841 * [taylor]: Taking taylor expansion of -1 in delta 27.841 * [backup-simplify]: Simplify -1 into -1 27.841 * [taylor]: Taking taylor expansion of phi1 in delta 27.841 * [backup-simplify]: Simplify phi1 into phi1 27.841 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.841 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.841 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.841 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.841 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.841 * [taylor]: Taking taylor expansion of -1 in delta 27.841 * [backup-simplify]: Simplify -1 into -1 27.841 * [taylor]: Taking taylor expansion of theta in delta 27.841 * [backup-simplify]: Simplify theta into theta 27.841 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.841 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.842 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.842 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.842 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.842 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.842 * [taylor]: Taking taylor expansion of -1 in delta 27.842 * [backup-simplify]: Simplify -1 into -1 27.842 * [taylor]: Taking taylor expansion of phi1 in delta 27.842 * [backup-simplify]: Simplify phi1 into phi1 27.842 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.842 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.842 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.842 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.842 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.842 * [taylor]: Taking taylor expansion of -1 in delta 27.842 * [backup-simplify]: Simplify -1 into -1 27.842 * [taylor]: Taking taylor expansion of delta in delta 27.842 * [backup-simplify]: Simplify 0 into 0 27.842 * [backup-simplify]: Simplify 1 into 1 27.843 * [backup-simplify]: Simplify (/ -1 1) into -1 27.843 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.843 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 27.843 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.843 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.843 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in delta 27.843 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.843 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.843 * [taylor]: Taking taylor expansion of -1 in delta 27.843 * [backup-simplify]: Simplify -1 into -1 27.843 * [taylor]: Taking taylor expansion of phi1 in delta 27.843 * [backup-simplify]: Simplify phi1 into phi1 27.843 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.843 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.843 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.843 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.844 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.844 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.844 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.844 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.844 * [taylor]: Taking taylor expansion of -1 in delta 27.844 * [backup-simplify]: Simplify -1 into -1 27.844 * [taylor]: Taking taylor expansion of delta in delta 27.844 * [backup-simplify]: Simplify 0 into 0 27.844 * [backup-simplify]: Simplify 1 into 1 27.845 * [backup-simplify]: Simplify (/ -1 1) into -1 27.845 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.845 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.845 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.845 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.845 * [taylor]: Taking taylor expansion of -1 in delta 27.845 * [backup-simplify]: Simplify -1 into -1 27.845 * [taylor]: Taking taylor expansion of phi1 in delta 27.845 * [backup-simplify]: Simplify phi1 into phi1 27.845 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.845 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.845 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.845 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.845 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.845 * [taylor]: Taking taylor expansion of -1 in delta 27.845 * [backup-simplify]: Simplify -1 into -1 27.845 * [taylor]: Taking taylor expansion of theta in delta 27.845 * [backup-simplify]: Simplify theta into theta 27.845 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.845 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.846 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.846 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.846 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.846 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.846 * [taylor]: Taking taylor expansion of -1 in delta 27.846 * [backup-simplify]: Simplify -1 into -1 27.846 * [taylor]: Taking taylor expansion of phi1 in delta 27.846 * [backup-simplify]: Simplify phi1 into phi1 27.846 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.846 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.846 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.846 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.846 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.846 * [taylor]: Taking taylor expansion of -1 in delta 27.846 * [backup-simplify]: Simplify -1 into -1 27.846 * [taylor]: Taking taylor expansion of delta in delta 27.846 * [backup-simplify]: Simplify 0 into 0 27.846 * [backup-simplify]: Simplify 1 into 1 27.847 * [backup-simplify]: Simplify (/ -1 1) into -1 27.847 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.847 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.847 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.847 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.847 * [taylor]: Taking taylor expansion of -1 in delta 27.847 * [backup-simplify]: Simplify -1 into -1 27.847 * [taylor]: Taking taylor expansion of phi1 in delta 27.847 * [backup-simplify]: Simplify phi1 into phi1 27.847 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.847 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.847 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.847 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.847 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.847 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.847 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.848 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.848 * [taylor]: Taking taylor expansion of -1 in delta 27.848 * [backup-simplify]: Simplify -1 into -1 27.848 * [taylor]: Taking taylor expansion of delta in delta 27.848 * [backup-simplify]: Simplify 0 into 0 27.848 * [backup-simplify]: Simplify 1 into 1 27.848 * [backup-simplify]: Simplify (/ -1 1) into -1 27.848 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.848 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.848 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.848 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.848 * [taylor]: Taking taylor expansion of -1 in delta 27.848 * [backup-simplify]: Simplify -1 into -1 27.848 * [taylor]: Taking taylor expansion of phi1 in delta 27.848 * [backup-simplify]: Simplify phi1 into phi1 27.848 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.849 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.849 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.849 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.849 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.849 * [taylor]: Taking taylor expansion of -1 in delta 27.849 * [backup-simplify]: Simplify -1 into -1 27.849 * [taylor]: Taking taylor expansion of theta in delta 27.849 * [backup-simplify]: Simplify theta into theta 27.849 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.849 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.849 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.849 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.849 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.849 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.849 * [taylor]: Taking taylor expansion of -1 in delta 27.849 * [backup-simplify]: Simplify -1 into -1 27.849 * [taylor]: Taking taylor expansion of phi1 in delta 27.849 * [backup-simplify]: Simplify phi1 into phi1 27.849 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.849 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.849 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.849 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.849 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.849 * [taylor]: Taking taylor expansion of -1 in delta 27.849 * [backup-simplify]: Simplify -1 into -1 27.849 * [taylor]: Taking taylor expansion of delta in delta 27.849 * [backup-simplify]: Simplify 0 into 0 27.850 * [backup-simplify]: Simplify 1 into 1 27.850 * [backup-simplify]: Simplify (/ -1 1) into -1 27.850 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.850 * [taylor]: Taking taylor expansion of (+ (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 27.850 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 27.850 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 27.850 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 27.850 * [taylor]: Taking taylor expansion of 1 in delta 27.850 * [backup-simplify]: Simplify 1 into 1 27.850 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.850 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.850 * [taylor]: Taking taylor expansion of -1 in delta 27.850 * [backup-simplify]: Simplify -1 into -1 27.850 * [taylor]: Taking taylor expansion of delta in delta 27.850 * [backup-simplify]: Simplify 0 into 0 27.851 * [backup-simplify]: Simplify 1 into 1 27.851 * [backup-simplify]: Simplify (/ -1 1) into -1 27.851 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.851 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 27.851 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.851 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.851 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.851 * [taylor]: Taking taylor expansion of -1 in delta 27.851 * [backup-simplify]: Simplify -1 into -1 27.851 * [taylor]: Taking taylor expansion of phi1 in delta 27.851 * [backup-simplify]: Simplify phi1 into phi1 27.851 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.851 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.851 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.851 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.852 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.852 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.852 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.852 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.852 * [taylor]: Taking taylor expansion of -1 in delta 27.852 * [backup-simplify]: Simplify -1 into -1 27.852 * [taylor]: Taking taylor expansion of delta in delta 27.852 * [backup-simplify]: Simplify 0 into 0 27.852 * [backup-simplify]: Simplify 1 into 1 27.852 * [backup-simplify]: Simplify (/ -1 1) into -1 27.852 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.852 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.852 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.852 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.852 * [taylor]: Taking taylor expansion of -1 in delta 27.852 * [backup-simplify]: Simplify -1 into -1 27.852 * [taylor]: Taking taylor expansion of phi1 in delta 27.852 * [backup-simplify]: Simplify phi1 into phi1 27.853 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.853 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.853 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.853 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.853 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.853 * [taylor]: Taking taylor expansion of -1 in delta 27.853 * [backup-simplify]: Simplify -1 into -1 27.853 * [taylor]: Taking taylor expansion of theta in delta 27.853 * [backup-simplify]: Simplify theta into theta 27.853 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.853 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.853 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.853 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.853 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.853 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.853 * [taylor]: Taking taylor expansion of -1 in delta 27.853 * [backup-simplify]: Simplify -1 into -1 27.853 * [taylor]: Taking taylor expansion of phi1 in delta 27.853 * [backup-simplify]: Simplify phi1 into phi1 27.853 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.853 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.853 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.853 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.854 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.854 * [taylor]: Taking taylor expansion of -1 in delta 27.854 * [backup-simplify]: Simplify -1 into -1 27.854 * [taylor]: Taking taylor expansion of delta in delta 27.854 * [backup-simplify]: Simplify 0 into 0 27.854 * [backup-simplify]: Simplify 1 into 1 27.854 * [backup-simplify]: Simplify (/ -1 1) into -1 27.854 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.854 * [taylor]: Taking taylor expansion of (fma (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 27.854 * [taylor]: Rewrote expression to (+ (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 27.854 * [taylor]: Taking taylor expansion of (* (- (sin (/ -1 phi1))) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.854 * [taylor]: Taking taylor expansion of (- (sin (/ -1 phi1))) in delta 27.854 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.854 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.854 * [taylor]: Taking taylor expansion of -1 in delta 27.854 * [backup-simplify]: Simplify -1 into -1 27.854 * [taylor]: Taking taylor expansion of phi1 in delta 27.855 * [backup-simplify]: Simplify phi1 into phi1 27.855 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.855 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.855 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.855 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.855 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.855 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.855 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.855 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.855 * [taylor]: Taking taylor expansion of -1 in delta 27.855 * [backup-simplify]: Simplify -1 into -1 27.855 * [taylor]: Taking taylor expansion of delta in delta 27.855 * [backup-simplify]: Simplify 0 into 0 27.855 * [backup-simplify]: Simplify 1 into 1 27.855 * [backup-simplify]: Simplify (/ -1 1) into -1 27.856 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.856 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.856 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.856 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.856 * [taylor]: Taking taylor expansion of -1 in delta 27.856 * [backup-simplify]: Simplify -1 into -1 27.856 * [taylor]: Taking taylor expansion of phi1 in delta 27.856 * [backup-simplify]: Simplify phi1 into phi1 27.856 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.856 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.856 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.856 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.856 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.856 * [taylor]: Taking taylor expansion of -1 in delta 27.856 * [backup-simplify]: Simplify -1 into -1 27.856 * [taylor]: Taking taylor expansion of theta in delta 27.856 * [backup-simplify]: Simplify theta into theta 27.856 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.856 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.856 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.856 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.856 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.856 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.856 * [taylor]: Taking taylor expansion of -1 in delta 27.856 * [backup-simplify]: Simplify -1 into -1 27.856 * [taylor]: Taking taylor expansion of phi1 in delta 27.857 * [backup-simplify]: Simplify phi1 into phi1 27.857 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.857 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.857 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.857 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.857 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.857 * [taylor]: Taking taylor expansion of -1 in delta 27.857 * [backup-simplify]: Simplify -1 into -1 27.857 * [taylor]: Taking taylor expansion of delta in delta 27.857 * [backup-simplify]: Simplify 0 into 0 27.857 * [backup-simplify]: Simplify 1 into 1 27.857 * [backup-simplify]: Simplify (/ -1 1) into -1 27.857 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.857 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 27.858 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.858 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.858 * [taylor]: Taking taylor expansion of -1 in delta 27.858 * [backup-simplify]: Simplify -1 into -1 27.858 * [taylor]: Taking taylor expansion of phi1 in delta 27.858 * [backup-simplify]: Simplify phi1 into phi1 27.858 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.858 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.858 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.858 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 27.858 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 27.858 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 27.858 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 27.858 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.858 * [taylor]: Taking taylor expansion of -1 in delta 27.858 * [backup-simplify]: Simplify -1 into -1 27.858 * [taylor]: Taking taylor expansion of delta in delta 27.858 * [backup-simplify]: Simplify 0 into 0 27.858 * [backup-simplify]: Simplify 1 into 1 27.859 * [backup-simplify]: Simplify (/ -1 1) into -1 27.859 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.859 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 27.859 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 27.859 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.859 * [taylor]: Taking taylor expansion of -1 in delta 27.859 * [backup-simplify]: Simplify -1 into -1 27.859 * [taylor]: Taking taylor expansion of phi1 in delta 27.859 * [backup-simplify]: Simplify phi1 into phi1 27.859 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.859 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.859 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.859 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 27.859 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 27.859 * [taylor]: Taking taylor expansion of -1 in delta 27.859 * [backup-simplify]: Simplify -1 into -1 27.859 * [taylor]: Taking taylor expansion of theta in delta 27.859 * [backup-simplify]: Simplify theta into theta 27.859 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.859 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.859 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.860 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 27.860 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 27.860 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 27.860 * [taylor]: Taking taylor expansion of -1 in delta 27.860 * [backup-simplify]: Simplify -1 into -1 27.860 * [taylor]: Taking taylor expansion of phi1 in delta 27.860 * [backup-simplify]: Simplify phi1 into phi1 27.860 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.860 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.860 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.860 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 27.860 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 27.860 * [taylor]: Taking taylor expansion of -1 in delta 27.860 * [backup-simplify]: Simplify -1 into -1 27.860 * [taylor]: Taking taylor expansion of delta in delta 27.860 * [backup-simplify]: Simplify 0 into 0 27.860 * [backup-simplify]: Simplify 1 into 1 27.860 * [backup-simplify]: Simplify (/ -1 1) into -1 27.861 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.861 * [backup-simplify]: Simplify (* 1 (cos (/ -1 delta))) into (cos (/ -1 delta)) 27.861 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.861 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.861 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.861 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.861 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.862 * [backup-simplify]: Simplify (- 0) into 0 27.862 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.862 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.862 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.862 * [backup-simplify]: Simplify (- 0) into 0 27.862 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.862 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.863 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.863 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.863 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.863 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.863 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 27.863 * [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))))) 27.864 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 27.864 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.865 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.865 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.865 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.865 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.865 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 27.866 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.866 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.866 * [backup-simplify]: Simplify (- 0) into 0 27.866 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.866 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.867 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.867 * [backup-simplify]: Simplify (- 0) into 0 27.867 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.868 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.868 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.868 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.868 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.868 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.868 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 27.868 * [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))))) 27.869 * [backup-simplify]: Simplify (* (- (sin (/ -1 phi1))) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) 27.869 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.869 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.869 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.869 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.869 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.869 * [backup-simplify]: Simplify (- 0) into 0 27.869 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.869 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.869 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.870 * [backup-simplify]: Simplify (- 0) into 0 27.870 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.870 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.870 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.870 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.870 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.870 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.870 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 27.870 * [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))))) 27.870 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 27.871 * [backup-simplify]: Simplify (+ (* -1 (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 27.872 * [backup-simplify]: Simplify (+ (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) (- (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.872 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 27.872 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.872 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.872 * [taylor]: Taking taylor expansion of -1 in phi1 27.872 * [backup-simplify]: Simplify -1 into -1 27.872 * [taylor]: Taking taylor expansion of delta in phi1 27.872 * [backup-simplify]: Simplify delta into delta 27.872 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.872 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.872 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.872 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 27.872 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 27.872 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 27.872 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.872 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.872 * [taylor]: Taking taylor expansion of -1 in phi1 27.872 * [backup-simplify]: Simplify -1 into -1 27.872 * [taylor]: Taking taylor expansion of phi1 in phi1 27.872 * [backup-simplify]: Simplify 0 into 0 27.872 * [backup-simplify]: Simplify 1 into 1 27.872 * [backup-simplify]: Simplify (/ -1 1) into -1 27.872 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.873 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 27.873 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.873 * [taylor]: Taking taylor expansion of -1 in phi1 27.873 * [backup-simplify]: Simplify -1 into -1 27.873 * [taylor]: Taking taylor expansion of delta in phi1 27.873 * [backup-simplify]: Simplify delta into delta 27.873 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.873 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.873 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.873 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 27.873 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 27.873 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.873 * [taylor]: Taking taylor expansion of -1 in phi1 27.873 * [backup-simplify]: Simplify -1 into -1 27.873 * [taylor]: Taking taylor expansion of phi1 in phi1 27.873 * [backup-simplify]: Simplify 0 into 0 27.873 * [backup-simplify]: Simplify 1 into 1 27.873 * [backup-simplify]: Simplify (/ -1 1) into -1 27.873 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.873 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 27.873 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 27.873 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 27.873 * [taylor]: Taking taylor expansion of -1 in phi1 27.873 * [backup-simplify]: Simplify -1 into -1 27.873 * [taylor]: Taking taylor expansion of delta in phi1 27.873 * [backup-simplify]: Simplify delta into delta 27.873 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.873 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.873 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.873 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 27.873 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 27.873 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 27.873 * [taylor]: Taking taylor expansion of -1 in phi1 27.873 * [backup-simplify]: Simplify -1 into -1 27.873 * [taylor]: Taking taylor expansion of theta in phi1 27.873 * [backup-simplify]: Simplify theta into theta 27.874 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 27.874 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.874 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 27.874 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 27.874 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 27.874 * [taylor]: Taking taylor expansion of -1 in phi1 27.874 * [backup-simplify]: Simplify -1 into -1 27.874 * [taylor]: Taking taylor expansion of phi1 in phi1 27.874 * [backup-simplify]: Simplify 0 into 0 27.874 * [backup-simplify]: Simplify 1 into 1 27.874 * [backup-simplify]: Simplify (/ -1 1) into -1 27.874 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.874 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 27.874 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 27.874 * [backup-simplify]: Simplify (- 0) into 0 27.874 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 27.875 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 27.875 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 27.875 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 27.875 * [backup-simplify]: Simplify (- 0) into 0 27.875 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 27.875 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 27.875 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 27.876 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 27.876 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 27.876 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 27.876 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 27.876 * [backup-simplify]: Simplify (- 0) into 0 27.876 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 27.877 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.877 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.877 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 27.877 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 27.877 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.878 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.878 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 27.878 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.878 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.878 * [taylor]: Taking taylor expansion of -1 in theta 27.878 * [backup-simplify]: Simplify -1 into -1 27.878 * [taylor]: Taking taylor expansion of delta in theta 27.878 * [backup-simplify]: Simplify delta into delta 27.878 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.878 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.878 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.878 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 27.878 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 27.878 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 27.878 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.878 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.878 * [taylor]: Taking taylor expansion of -1 in theta 27.878 * [backup-simplify]: Simplify -1 into -1 27.878 * [taylor]: Taking taylor expansion of phi1 in theta 27.878 * [backup-simplify]: Simplify phi1 into phi1 27.878 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.878 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.878 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.878 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.878 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.878 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.878 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 27.878 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.878 * [taylor]: Taking taylor expansion of -1 in theta 27.878 * [backup-simplify]: Simplify -1 into -1 27.878 * [taylor]: Taking taylor expansion of delta in theta 27.878 * [backup-simplify]: Simplify delta into delta 27.879 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.879 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.879 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.879 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 27.879 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 27.879 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.879 * [taylor]: Taking taylor expansion of -1 in theta 27.879 * [backup-simplify]: Simplify -1 into -1 27.879 * [taylor]: Taking taylor expansion of phi1 in theta 27.879 * [backup-simplify]: Simplify phi1 into phi1 27.879 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.879 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.879 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.879 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 27.879 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 27.879 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 27.879 * [taylor]: Taking taylor expansion of -1 in theta 27.879 * [backup-simplify]: Simplify -1 into -1 27.879 * [taylor]: Taking taylor expansion of delta in theta 27.879 * [backup-simplify]: Simplify delta into delta 27.879 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 27.879 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 27.879 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 27.879 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 27.879 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 27.879 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 27.879 * [taylor]: Taking taylor expansion of -1 in theta 27.879 * [backup-simplify]: Simplify -1 into -1 27.879 * [taylor]: Taking taylor expansion of theta in theta 27.879 * [backup-simplify]: Simplify 0 into 0 27.879 * [backup-simplify]: Simplify 1 into 1 27.879 * [backup-simplify]: Simplify (/ -1 1) into -1 27.880 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 27.880 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 27.880 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 27.880 * [taylor]: Taking taylor expansion of -1 in theta 27.880 * [backup-simplify]: Simplify -1 into -1 27.880 * [taylor]: Taking taylor expansion of phi1 in theta 27.880 * [backup-simplify]: Simplify phi1 into phi1 27.880 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 27.880 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 27.880 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 27.880 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 27.880 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 27.880 * [backup-simplify]: Simplify (- 0) into 0 27.880 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 27.880 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 27.880 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 27.880 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 27.881 * [backup-simplify]: Simplify (- 0) into 0 27.881 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 27.881 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 27.881 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 27.881 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 27.881 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 27.881 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 27.881 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 27.881 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 27.881 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 27.881 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 27.881 * [backup-simplify]: Simplify (- 0) into 0 27.881 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 27.882 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 27.882 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 27.882 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 27.882 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 27.882 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.883 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.883 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 27.884 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ -1 delta)))) into 0 27.884 * [backup-simplify]: Simplify (+ 0) into 0 27.884 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.884 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.885 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.885 * [backup-simplify]: Simplify (- 0) into 0 27.885 * [backup-simplify]: Simplify (+ 0 0) into 0 27.886 * [backup-simplify]: Simplify (+ 0) into 0 27.886 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.887 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.887 * [backup-simplify]: Simplify (- 0) into 0 27.887 * [backup-simplify]: Simplify (+ 0 0) into 0 27.887 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 27.888 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.888 * [backup-simplify]: Simplify (+ 0) into 0 27.888 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.888 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.889 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.889 * [backup-simplify]: Simplify (+ 0 0) into 0 27.889 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 27.890 * [backup-simplify]: Simplify (+ 0 0) into 0 27.890 * [backup-simplify]: Simplify (+ 0) into 0 27.890 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.891 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.891 * [backup-simplify]: Simplify (+ 0 0) into 0 27.891 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 27.892 * [backup-simplify]: Simplify (- 0) into 0 27.892 * [backup-simplify]: Simplify (+ 0 0) into 0 27.892 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 27.892 * [backup-simplify]: Simplify (+ 0) into 0 27.893 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.893 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.893 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.894 * [backup-simplify]: Simplify (- 0) into 0 27.894 * [backup-simplify]: Simplify (+ 0 0) into 0 27.894 * [backup-simplify]: Simplify (+ 0) into 0 27.894 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.899 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.899 * [backup-simplify]: Simplify (- 0) into 0 27.900 * [backup-simplify]: Simplify (+ 0 0) into 0 27.900 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 27.900 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.900 * [backup-simplify]: Simplify (+ 0) into 0 27.901 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.902 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.903 * [backup-simplify]: Simplify (+ 0 0) into 0 27.903 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 27.903 * [backup-simplify]: Simplify (+ 0 0) into 0 27.903 * [backup-simplify]: Simplify (+ 0) into 0 27.904 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.904 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.905 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.906 * [backup-simplify]: Simplify (+ 0 0) into 0 27.906 * [backup-simplify]: Simplify (- 0) into 0 27.906 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 27.907 * [backup-simplify]: Simplify (+ 0) into 0 27.907 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.907 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.909 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.909 * [backup-simplify]: Simplify (- 0) into 0 27.909 * [backup-simplify]: Simplify (+ 0 0) into 0 27.910 * [backup-simplify]: Simplify (+ 0) into 0 27.910 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.912 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.912 * [backup-simplify]: Simplify (- 0) into 0 27.913 * [backup-simplify]: Simplify (+ 0 0) into 0 27.913 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 27.913 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.913 * [backup-simplify]: Simplify (+ 0) into 0 27.914 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.914 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.915 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.916 * [backup-simplify]: Simplify (+ 0 0) into 0 27.916 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 27.916 * [backup-simplify]: Simplify (+ 0 0) into 0 27.917 * [backup-simplify]: Simplify (+ 0) into 0 27.917 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.919 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.919 * [backup-simplify]: Simplify (+ 0 0) into 0 27.920 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 27.920 * [backup-simplify]: Simplify (+ 0 0) into 0 27.920 * [backup-simplify]: Simplify (+ 0 0) into 0 27.920 * [taylor]: Taking taylor expansion of 0 in phi1 27.920 * [backup-simplify]: Simplify 0 into 0 27.921 * [taylor]: Taking taylor expansion of 0 in theta 27.921 * [backup-simplify]: Simplify 0 into 0 27.921 * [backup-simplify]: Simplify 0 into 0 27.921 * [backup-simplify]: Simplify (+ 0) into 0 27.922 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 27.922 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.923 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 27.923 * [backup-simplify]: Simplify (- 0) into 0 27.924 * [backup-simplify]: Simplify (+ 0 0) into 0 27.924 * [backup-simplify]: Simplify (+ 0) into 0 27.925 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 27.925 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.927 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 27.927 * [backup-simplify]: Simplify (- 0) into 0 27.928 * [backup-simplify]: Simplify (+ 0 0) into 0 27.928 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 27.928 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 27.929 * [backup-simplify]: Simplify (+ 0) into 0 27.929 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 27.929 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 27.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.930 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 27.931 * [backup-simplify]: Simplify (- 0) into 0 27.931 * [backup-simplify]: Simplify (+ 0 0) into 0 27.931 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 27.932 * [backup-simplify]: Simplify (+ 0) into 0 27.932 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 27.932 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.934 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 27.934 * [backup-simplify]: Simplify (+ 0 0) into 0 27.934 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.935 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 27.935 * [backup-simplify]: Simplify (+ 0 0) into 0 27.935 * [backup-simplify]: Simplify (- 0) into 0 27.936 * [backup-simplify]: Simplify (+ 0 0) into 0 27.936 * [taylor]: Taking taylor expansion of 0 in theta 27.936 * [backup-simplify]: Simplify 0 into 0 27.936 * [backup-simplify]: Simplify 0 into 0 27.936 * [backup-simplify]: Simplify (+ 0) into 0 27.937 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 27.937 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.938 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 27.939 * [backup-simplify]: Simplify (- 0) into 0 27.939 * [backup-simplify]: Simplify (+ 0 0) into 0 27.940 * [backup-simplify]: Simplify (+ 0) into 0 27.940 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 27.940 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.942 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 27.942 * [backup-simplify]: Simplify (- 0) into 0 27.942 * [backup-simplify]: Simplify (+ 0 0) into 0 27.943 * [backup-simplify]: Simplify (+ 0) into 0 27.943 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.945 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.945 * [backup-simplify]: Simplify (+ 0 0) into 0 27.945 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 27.945 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 27.946 * [backup-simplify]: Simplify (+ 0) into 0 27.946 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 27.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.948 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 27.948 * [backup-simplify]: Simplify (- 0) into 0 27.949 * [backup-simplify]: Simplify (+ 0 0) into 0 27.949 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 27.949 * [backup-simplify]: Simplify (+ 0) into 0 27.950 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 27.950 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 27.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.951 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 27.951 * [backup-simplify]: Simplify (+ 0 0) into 0 27.952 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 27.952 * [backup-simplify]: Simplify (+ 0) into 0 27.953 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 27.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 27.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.954 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 27.954 * [backup-simplify]: Simplify (+ 0 0) into 0 27.955 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 27.955 * [backup-simplify]: Simplify (+ 0 0) into 0 27.955 * [backup-simplify]: Simplify (- 0) into 0 27.956 * [backup-simplify]: Simplify (+ 0 0) into 0 27.956 * [backup-simplify]: Simplify 0 into 0 27.957 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 27.958 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.959 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.959 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.960 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.960 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.961 * [backup-simplify]: Simplify (- 0) into 0 27.961 * [backup-simplify]: Simplify (+ 0 0) into 0 27.962 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.963 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.964 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.964 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.965 * [backup-simplify]: Simplify (- 0) into 0 27.965 * [backup-simplify]: Simplify (+ 0 0) into 0 27.966 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 27.966 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 27.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.968 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.968 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.969 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.970 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.970 * [backup-simplify]: Simplify (+ 0 0) into 0 27.970 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 27.971 * [backup-simplify]: Simplify (+ 0 0) into 0 27.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.973 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.974 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.974 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.975 * [backup-simplify]: Simplify (+ 0 0) into 0 27.975 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 27.976 * [backup-simplify]: Simplify (- 0) into 0 27.976 * [backup-simplify]: Simplify (+ 0 0) into 0 27.977 * [backup-simplify]: Simplify (- (sin (/ -1 phi1))) into (- (sin (/ -1 phi1))) 27.977 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.978 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.978 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.979 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.980 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.980 * [backup-simplify]: Simplify (- 0) into 0 27.980 * [backup-simplify]: Simplify (+ 0 0) into 0 27.981 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.982 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.982 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.983 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.983 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.984 * [backup-simplify]: Simplify (- 0) into 0 27.984 * [backup-simplify]: Simplify (+ 0 0) into 0 27.984 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 27.985 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 27.986 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.986 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.987 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.988 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.988 * [backup-simplify]: Simplify (+ 0 0) into 0 27.989 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 27.989 * [backup-simplify]: Simplify (+ 0 0) into 0 27.990 * [backup-simplify]: Simplify (- 0) into 0 27.991 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.991 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 27.992 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 27.992 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.993 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 27.993 * [backup-simplify]: Simplify (+ 0 0) into 0 27.994 * [backup-simplify]: Simplify (- 0) into 0 27.994 * [backup-simplify]: Simplify (+ (* (- (sin (/ -1 phi1))) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 27.995 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 27.996 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 27.996 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 27.997 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.998 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 27.998 * [backup-simplify]: Simplify (- 0) into 0 27.998 * [backup-simplify]: Simplify (+ 0 0) into 0 27.999 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.000 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.001 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.001 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.002 * [backup-simplify]: Simplify (- 0) into 0 28.002 * [backup-simplify]: Simplify (+ 0 0) into 0 28.003 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 28.003 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 28.004 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.005 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.005 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.006 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.006 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.007 * [backup-simplify]: Simplify (+ 0 0) into 0 28.007 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.007 * [backup-simplify]: Simplify (+ 0 0) into 0 28.008 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.009 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.010 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.010 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.011 * [backup-simplify]: Simplify (+ 0 0) into 0 28.011 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 28.012 * [backup-simplify]: Simplify (+ 0 0) into 0 28.012 * [backup-simplify]: Simplify (+ 0 0) into 0 28.012 * [taylor]: Taking taylor expansion of 0 in phi1 28.012 * [backup-simplify]: Simplify 0 into 0 28.012 * [taylor]: Taking taylor expansion of 0 in theta 28.012 * [backup-simplify]: Simplify 0 into 0 28.012 * [backup-simplify]: Simplify 0 into 0 28.012 * [taylor]: Taking taylor expansion of 0 in theta 28.012 * [backup-simplify]: Simplify 0 into 0 28.012 * [backup-simplify]: Simplify 0 into 0 28.013 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.014 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.014 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.015 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.015 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.016 * [backup-simplify]: Simplify (- 0) into 0 28.016 * [backup-simplify]: Simplify (+ 0 0) into 0 28.017 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.017 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.018 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.018 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.019 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.019 * [backup-simplify]: Simplify (- 0) into 0 28.020 * [backup-simplify]: Simplify (+ 0 0) into 0 28.020 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 28.021 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.021 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.023 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.023 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.024 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.024 * [backup-simplify]: Simplify (- 0) into 0 28.025 * [backup-simplify]: Simplify (+ 0 0) into 0 28.025 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 28.027 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.027 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.027 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.028 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.029 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.029 * [backup-simplify]: Simplify (+ 0 0) into 0 28.030 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 28.030 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 28.031 * [backup-simplify]: Simplify (+ 0 0) into 0 28.031 * [backup-simplify]: Simplify (- 0) into 0 28.031 * [backup-simplify]: Simplify (+ 0 0) into 0 28.031 * [taylor]: Taking taylor expansion of 0 in theta 28.031 * [backup-simplify]: Simplify 0 into 0 28.032 * [backup-simplify]: Simplify 0 into 0 28.032 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 28.032 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 1 1 1 1 2) 28.033 * [backup-simplify]: Simplify (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) into (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.033 * [approximate]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in (delta phi1 theta) around 0 28.033 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in theta 28.033 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.033 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in theta 28.033 * [taylor]: Taking taylor expansion of 1 in theta 28.033 * [backup-simplify]: Simplify 1 into 1 28.033 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.033 * [taylor]: Taking taylor expansion of delta in theta 28.033 * [backup-simplify]: Simplify delta into delta 28.033 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.033 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.033 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 28.033 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 28.033 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.033 * [taylor]: Taking taylor expansion of phi1 in theta 28.033 * [backup-simplify]: Simplify phi1 into phi1 28.033 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.033 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.033 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 28.034 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.034 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 28.034 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.034 * [taylor]: Taking taylor expansion of delta in theta 28.034 * [backup-simplify]: Simplify delta into delta 28.034 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.034 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.034 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 28.034 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.034 * [taylor]: Taking taylor expansion of phi1 in theta 28.034 * [backup-simplify]: Simplify phi1 into phi1 28.034 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.034 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.034 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.034 * [taylor]: Taking taylor expansion of theta in theta 28.034 * [backup-simplify]: Simplify 0 into 0 28.034 * [backup-simplify]: Simplify 1 into 1 28.034 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 28.034 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.034 * [taylor]: Taking taylor expansion of phi1 in theta 28.034 * [backup-simplify]: Simplify phi1 into phi1 28.034 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.034 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.034 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.034 * [taylor]: Taking taylor expansion of delta in theta 28.034 * [backup-simplify]: Simplify delta into delta 28.034 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.034 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.034 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in phi1 28.034 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.034 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in phi1 28.034 * [taylor]: Taking taylor expansion of 1 in phi1 28.034 * [backup-simplify]: Simplify 1 into 1 28.034 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.034 * [taylor]: Taking taylor expansion of delta in phi1 28.035 * [backup-simplify]: Simplify delta into delta 28.035 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.035 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.035 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 28.035 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 28.035 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.035 * [taylor]: Taking taylor expansion of phi1 in phi1 28.035 * [backup-simplify]: Simplify 0 into 0 28.035 * [backup-simplify]: Simplify 1 into 1 28.035 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 28.035 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.035 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 28.035 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.035 * [taylor]: Taking taylor expansion of delta in phi1 28.035 * [backup-simplify]: Simplify delta into delta 28.035 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.035 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.035 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 28.035 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.035 * [taylor]: Taking taylor expansion of phi1 in phi1 28.035 * [backup-simplify]: Simplify 0 into 0 28.035 * [backup-simplify]: Simplify 1 into 1 28.035 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.035 * [taylor]: Taking taylor expansion of theta in phi1 28.035 * [backup-simplify]: Simplify theta into theta 28.035 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.035 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.035 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.035 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.035 * [taylor]: Taking taylor expansion of phi1 in phi1 28.035 * [backup-simplify]: Simplify 0 into 0 28.035 * [backup-simplify]: Simplify 1 into 1 28.035 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.035 * [taylor]: Taking taylor expansion of delta in phi1 28.035 * [backup-simplify]: Simplify delta into delta 28.036 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.036 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.036 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 28.036 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.036 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 28.036 * [taylor]: Taking taylor expansion of 1 in delta 28.036 * [backup-simplify]: Simplify 1 into 1 28.036 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.036 * [taylor]: Taking taylor expansion of delta in delta 28.036 * [backup-simplify]: Simplify 0 into 0 28.036 * [backup-simplify]: Simplify 1 into 1 28.036 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 28.036 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 28.036 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.036 * [taylor]: Taking taylor expansion of phi1 in delta 28.036 * [backup-simplify]: Simplify phi1 into phi1 28.036 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.036 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.036 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 28.036 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.036 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 28.036 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.036 * [taylor]: Taking taylor expansion of delta in delta 28.036 * [backup-simplify]: Simplify 0 into 0 28.036 * [backup-simplify]: Simplify 1 into 1 28.036 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 28.036 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.036 * [taylor]: Taking taylor expansion of phi1 in delta 28.036 * [backup-simplify]: Simplify phi1 into phi1 28.036 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.036 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.036 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.036 * [taylor]: Taking taylor expansion of theta in delta 28.036 * [backup-simplify]: Simplify theta into theta 28.037 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.037 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.037 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.037 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.037 * [taylor]: Taking taylor expansion of phi1 in delta 28.037 * [backup-simplify]: Simplify phi1 into phi1 28.037 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.037 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.037 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.037 * [taylor]: Taking taylor expansion of delta in delta 28.037 * [backup-simplify]: Simplify 0 into 0 28.037 * [backup-simplify]: Simplify 1 into 1 28.037 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 28.037 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.037 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 28.037 * [taylor]: Taking taylor expansion of 1 in delta 28.037 * [backup-simplify]: Simplify 1 into 1 28.037 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.037 * [taylor]: Taking taylor expansion of delta in delta 28.037 * [backup-simplify]: Simplify 0 into 0 28.037 * [backup-simplify]: Simplify 1 into 1 28.037 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 28.037 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 28.037 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.037 * [taylor]: Taking taylor expansion of phi1 in delta 28.037 * [backup-simplify]: Simplify phi1 into phi1 28.037 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.037 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.037 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 28.037 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.037 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 28.037 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.037 * [taylor]: Taking taylor expansion of delta in delta 28.037 * [backup-simplify]: Simplify 0 into 0 28.037 * [backup-simplify]: Simplify 1 into 1 28.038 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 28.038 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.038 * [taylor]: Taking taylor expansion of phi1 in delta 28.038 * [backup-simplify]: Simplify phi1 into phi1 28.038 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.038 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.038 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.038 * [taylor]: Taking taylor expansion of theta in delta 28.038 * [backup-simplify]: Simplify theta into theta 28.038 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.038 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.038 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.038 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.038 * [taylor]: Taking taylor expansion of phi1 in delta 28.038 * [backup-simplify]: Simplify phi1 into phi1 28.038 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.038 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.038 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.038 * [taylor]: Taking taylor expansion of delta in delta 28.038 * [backup-simplify]: Simplify 0 into 0 28.038 * [backup-simplify]: Simplify 1 into 1 28.039 * [backup-simplify]: Simplify (* 1 1) into 1 28.039 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.039 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.039 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.039 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.039 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.039 * [backup-simplify]: Simplify (- 0) into 0 28.040 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.040 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.040 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.040 * [backup-simplify]: Simplify (- 0) into 0 28.040 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.040 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 28.040 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 28.040 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.040 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.041 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.041 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.041 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 28.041 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 28.041 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 28.041 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 28.041 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 28.041 * [taylor]: Taking taylor expansion of 1 in phi1 28.041 * [backup-simplify]: Simplify 1 into 1 28.041 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.041 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.041 * [taylor]: Taking taylor expansion of phi1 in phi1 28.041 * [backup-simplify]: Simplify 0 into 0 28.041 * [backup-simplify]: Simplify 1 into 1 28.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.047 * [backup-simplify]: Simplify (+ 1 0) into 1 28.047 * [taylor]: Taking taylor expansion of 1 in theta 28.047 * [backup-simplify]: Simplify 1 into 1 28.047 * [backup-simplify]: Simplify 1 into 1 28.048 * [backup-simplify]: Simplify (+ 0) into 0 28.049 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 28.049 * [backup-simplify]: Simplify (+ 0) into 0 28.050 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.051 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.051 * [backup-simplify]: Simplify (- 0) into 0 28.052 * [backup-simplify]: Simplify (+ 0 0) into 0 28.052 * [backup-simplify]: Simplify (+ 0) into 0 28.052 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.054 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.054 * [backup-simplify]: Simplify (- 0) into 0 28.055 * [backup-simplify]: Simplify (+ 0 0) into 0 28.055 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 28.055 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.056 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 28.056 * [backup-simplify]: Simplify (+ 0) into 0 28.057 * [backup-simplify]: Simplify (+ 0) into 0 28.057 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.059 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.059 * [backup-simplify]: Simplify (+ 0 0) into 0 28.060 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.060 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 28.060 * [backup-simplify]: Simplify (+ 0) into 0 28.061 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.062 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.063 * [backup-simplify]: Simplify (+ 0 0) into 0 28.063 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 28.063 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 28.063 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 28.063 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 28.063 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 28.063 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.063 * [taylor]: Taking taylor expansion of phi1 in phi1 28.063 * [backup-simplify]: Simplify 0 into 0 28.063 * [backup-simplify]: Simplify 1 into 1 28.063 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 28.063 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.063 * [taylor]: Taking taylor expansion of phi1 in phi1 28.063 * [backup-simplify]: Simplify 0 into 0 28.063 * [backup-simplify]: Simplify 1 into 1 28.063 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.063 * [taylor]: Taking taylor expansion of theta in phi1 28.064 * [backup-simplify]: Simplify theta into theta 28.064 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.064 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.064 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.064 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.064 * [backup-simplify]: Simplify (- 0) into 0 28.064 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.064 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 28.065 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 28.065 * [backup-simplify]: Simplify (- 0) into 0 28.065 * [taylor]: Taking taylor expansion of 0 in theta 28.065 * [backup-simplify]: Simplify 0 into 0 28.065 * [backup-simplify]: Simplify 0 into 0 28.065 * [backup-simplify]: Simplify (+ 0 0) into 0 28.065 * [taylor]: Taking taylor expansion of 0 in theta 28.065 * [backup-simplify]: Simplify 0 into 0 28.065 * [backup-simplify]: Simplify 0 into 0 28.066 * [backup-simplify]: Simplify 0 into 0 28.067 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.068 * [backup-simplify]: Simplify (+ (* 1 -1/2) (+ (* 0 0) (* 0 1))) into -1/2 28.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.069 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.070 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.071 * [backup-simplify]: Simplify (- 0) into 0 28.071 * [backup-simplify]: Simplify (+ 0 0) into 0 28.072 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.073 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.073 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.073 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.074 * [backup-simplify]: Simplify (- 0) into 0 28.074 * [backup-simplify]: Simplify (+ 0 0) into 0 28.074 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 28.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.075 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 28.076 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.076 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.077 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.077 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.078 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.078 * [backup-simplify]: Simplify (+ 0 0) into 0 28.078 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.078 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 28.079 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.079 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.080 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.080 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.080 * [backup-simplify]: Simplify (+ 0 0) into 0 28.081 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 28.081 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 28.081 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 28.081 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 28.081 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 28.081 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.081 * [backup-simplify]: Simplify 1/2 into 1/2 28.081 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.081 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.081 * [taylor]: Taking taylor expansion of phi1 in phi1 28.081 * [backup-simplify]: Simplify 0 into 0 28.081 * [backup-simplify]: Simplify 1 into 1 28.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.081 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.081 * [backup-simplify]: Simplify 1/2 into 1/2 28.082 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.082 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 28.082 * [taylor]: Taking taylor expansion of -1/2 in theta 28.082 * [backup-simplify]: Simplify -1/2 into -1/2 28.082 * [backup-simplify]: Simplify -1/2 into -1/2 28.082 * [backup-simplify]: Simplify (+ 0) into 0 28.083 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.083 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.084 * [backup-simplify]: Simplify (- 0) into 0 28.084 * [backup-simplify]: Simplify (+ 0 0) into 0 28.084 * [backup-simplify]: Simplify (+ 0) into 0 28.084 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 28.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.085 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 28.085 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 28.085 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 28.085 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.085 * [taylor]: Taking taylor expansion of theta in theta 28.085 * [backup-simplify]: Simplify 0 into 0 28.085 * [backup-simplify]: Simplify 1 into 1 28.085 * [backup-simplify]: Simplify (- 1) into -1 28.085 * [backup-simplify]: Simplify -1 into -1 28.086 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 28.086 * [backup-simplify]: Simplify (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))) into (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.086 * [approximate]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in (delta phi1 theta) around 0 28.086 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in theta 28.086 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.086 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in theta 28.086 * [taylor]: Taking taylor expansion of 1 in theta 28.086 * [backup-simplify]: Simplify 1 into 1 28.086 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.086 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.086 * [taylor]: Taking taylor expansion of delta in theta 28.086 * [backup-simplify]: Simplify delta into delta 28.086 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.086 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.086 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.086 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in theta 28.086 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 28.086 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.086 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.086 * [taylor]: Taking taylor expansion of phi1 in theta 28.086 * [backup-simplify]: Simplify phi1 into phi1 28.086 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.087 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.087 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.087 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 28.087 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.087 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 28.087 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.087 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.087 * [taylor]: Taking taylor expansion of delta in theta 28.087 * [backup-simplify]: Simplify delta into delta 28.087 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.087 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.087 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.087 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 28.087 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.087 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.087 * [taylor]: Taking taylor expansion of theta in theta 28.087 * [backup-simplify]: Simplify 0 into 0 28.087 * [backup-simplify]: Simplify 1 into 1 28.087 * [backup-simplify]: Simplify (/ 1 1) into 1 28.087 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.087 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.087 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.087 * [taylor]: Taking taylor expansion of phi1 in theta 28.087 * [backup-simplify]: Simplify phi1 into phi1 28.087 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.087 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.087 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.087 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 28.087 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.087 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.087 * [taylor]: Taking taylor expansion of delta in theta 28.087 * [backup-simplify]: Simplify delta into delta 28.088 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.088 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.088 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.088 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.088 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.088 * [taylor]: Taking taylor expansion of phi1 in theta 28.088 * [backup-simplify]: Simplify phi1 into phi1 28.088 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.088 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.088 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.088 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in phi1 28.088 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.088 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in phi1 28.088 * [taylor]: Taking taylor expansion of 1 in phi1 28.088 * [backup-simplify]: Simplify 1 into 1 28.088 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.088 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.088 * [taylor]: Taking taylor expansion of delta in phi1 28.088 * [backup-simplify]: Simplify delta into delta 28.088 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.088 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.088 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.088 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in phi1 28.088 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 28.088 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.088 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.088 * [taylor]: Taking taylor expansion of phi1 in phi1 28.088 * [backup-simplify]: Simplify 0 into 0 28.088 * [backup-simplify]: Simplify 1 into 1 28.088 * [backup-simplify]: Simplify (/ 1 1) into 1 28.088 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.089 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 28.089 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.089 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 28.089 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.089 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.089 * [taylor]: Taking taylor expansion of delta in phi1 28.089 * [backup-simplify]: Simplify delta into delta 28.089 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.089 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.089 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.089 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 28.089 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.089 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.089 * [taylor]: Taking taylor expansion of theta in phi1 28.089 * [backup-simplify]: Simplify theta into theta 28.089 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.089 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.089 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.089 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.089 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.089 * [taylor]: Taking taylor expansion of phi1 in phi1 28.089 * [backup-simplify]: Simplify 0 into 0 28.089 * [backup-simplify]: Simplify 1 into 1 28.089 * [backup-simplify]: Simplify (/ 1 1) into 1 28.089 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.089 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 28.089 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.089 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.089 * [taylor]: Taking taylor expansion of delta in phi1 28.089 * [backup-simplify]: Simplify delta into delta 28.089 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.089 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.090 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.090 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.090 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.090 * [taylor]: Taking taylor expansion of phi1 in phi1 28.090 * [backup-simplify]: Simplify 0 into 0 28.090 * [backup-simplify]: Simplify 1 into 1 28.090 * [backup-simplify]: Simplify (/ 1 1) into 1 28.090 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.090 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 28.090 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.090 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 28.090 * [taylor]: Taking taylor expansion of 1 in delta 28.090 * [backup-simplify]: Simplify 1 into 1 28.090 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.090 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.090 * [taylor]: Taking taylor expansion of delta in delta 28.090 * [backup-simplify]: Simplify 0 into 0 28.090 * [backup-simplify]: Simplify 1 into 1 28.090 * [backup-simplify]: Simplify (/ 1 1) into 1 28.090 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.090 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 28.090 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 28.090 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.090 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.090 * [taylor]: Taking taylor expansion of phi1 in delta 28.090 * [backup-simplify]: Simplify phi1 into phi1 28.091 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.091 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.091 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.091 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 28.091 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.091 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 28.091 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.091 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.091 * [taylor]: Taking taylor expansion of delta in delta 28.091 * [backup-simplify]: Simplify 0 into 0 28.091 * [backup-simplify]: Simplify 1 into 1 28.091 * [backup-simplify]: Simplify (/ 1 1) into 1 28.091 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.091 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 28.091 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.091 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.091 * [taylor]: Taking taylor expansion of theta in delta 28.091 * [backup-simplify]: Simplify theta into theta 28.091 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.091 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.091 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.091 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.091 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.091 * [taylor]: Taking taylor expansion of phi1 in delta 28.091 * [backup-simplify]: Simplify phi1 into phi1 28.091 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.091 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.091 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.092 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 28.092 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.092 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.092 * [taylor]: Taking taylor expansion of delta in delta 28.092 * [backup-simplify]: Simplify 0 into 0 28.092 * [backup-simplify]: Simplify 1 into 1 28.092 * [backup-simplify]: Simplify (/ 1 1) into 1 28.092 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.092 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.092 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.092 * [taylor]: Taking taylor expansion of phi1 in delta 28.092 * [backup-simplify]: Simplify phi1 into phi1 28.092 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.092 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.092 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.092 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 28.092 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.092 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 28.092 * [taylor]: Taking taylor expansion of 1 in delta 28.092 * [backup-simplify]: Simplify 1 into 1 28.092 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.092 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.092 * [taylor]: Taking taylor expansion of delta in delta 28.092 * [backup-simplify]: Simplify 0 into 0 28.092 * [backup-simplify]: Simplify 1 into 1 28.093 * [backup-simplify]: Simplify (/ 1 1) into 1 28.093 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.093 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 28.093 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 28.093 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.093 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.093 * [taylor]: Taking taylor expansion of phi1 in delta 28.093 * [backup-simplify]: Simplify phi1 into phi1 28.093 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.093 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.093 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.093 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 28.093 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.093 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 28.093 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.093 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.093 * [taylor]: Taking taylor expansion of delta in delta 28.093 * [backup-simplify]: Simplify 0 into 0 28.093 * [backup-simplify]: Simplify 1 into 1 28.093 * [backup-simplify]: Simplify (/ 1 1) into 1 28.093 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.093 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 28.093 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.093 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.093 * [taylor]: Taking taylor expansion of theta in delta 28.093 * [backup-simplify]: Simplify theta into theta 28.093 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.093 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.093 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.093 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.093 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.093 * [taylor]: Taking taylor expansion of phi1 in delta 28.093 * [backup-simplify]: Simplify phi1 into phi1 28.094 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.094 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.094 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.094 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 28.094 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.094 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.094 * [taylor]: Taking taylor expansion of delta in delta 28.094 * [backup-simplify]: Simplify 0 into 0 28.094 * [backup-simplify]: Simplify 1 into 1 28.094 * [backup-simplify]: Simplify (/ 1 1) into 1 28.094 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.094 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.094 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.094 * [taylor]: Taking taylor expansion of phi1 in delta 28.094 * [backup-simplify]: Simplify phi1 into phi1 28.094 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.094 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.094 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.094 * [backup-simplify]: Simplify (* 1 (cos (/ 1 delta))) into (cos (/ 1 delta)) 28.094 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.094 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.094 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.094 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.095 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.095 * [backup-simplify]: Simplify (- 0) into 0 28.095 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.095 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.095 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.095 * [backup-simplify]: Simplify (- 0) into 0 28.095 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.095 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 28.095 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.096 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.096 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.096 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.096 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 28.096 * [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))))) 28.096 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 28.096 * [backup-simplify]: Simplify (- (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.097 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.097 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) in phi1 28.097 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.097 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.097 * [taylor]: Taking taylor expansion of delta in phi1 28.097 * [backup-simplify]: Simplify delta into delta 28.097 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.097 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.097 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.097 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) in phi1 28.097 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 28.097 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 28.097 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.097 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.097 * [taylor]: Taking taylor expansion of phi1 in phi1 28.097 * [backup-simplify]: Simplify 0 into 0 28.097 * [backup-simplify]: Simplify 1 into 1 28.097 * [backup-simplify]: Simplify (/ 1 1) into 1 28.097 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.097 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.097 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.098 * [taylor]: Taking taylor expansion of delta in phi1 28.098 * [backup-simplify]: Simplify delta into delta 28.098 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.098 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.098 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.098 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 28.098 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.098 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.098 * [taylor]: Taking taylor expansion of phi1 in phi1 28.098 * [backup-simplify]: Simplify 0 into 0 28.098 * [backup-simplify]: Simplify 1 into 1 28.098 * [backup-simplify]: Simplify (/ 1 1) into 1 28.098 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.098 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.098 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.098 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.098 * [taylor]: Taking taylor expansion of phi1 in phi1 28.098 * [backup-simplify]: Simplify 0 into 0 28.098 * [backup-simplify]: Simplify 1 into 1 28.098 * [backup-simplify]: Simplify (/ 1 1) into 1 28.098 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.098 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.098 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.098 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.099 * [taylor]: Taking taylor expansion of theta in phi1 28.099 * [backup-simplify]: Simplify theta into theta 28.099 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.099 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.099 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.099 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.099 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.099 * [taylor]: Taking taylor expansion of delta in phi1 28.099 * [backup-simplify]: Simplify delta into delta 28.099 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.099 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.099 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.099 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.099 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.099 * [backup-simplify]: Simplify (- 0) into 0 28.099 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.099 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.099 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.099 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.100 * [backup-simplify]: Simplify (- 0) into 0 28.100 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.100 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 28.100 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.100 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.100 * [backup-simplify]: Simplify (- 0) into 0 28.100 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.100 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.100 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.100 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.101 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 28.101 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 28.101 * [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))))) 28.102 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 28.102 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 28.103 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 28.103 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 28.103 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.103 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.103 * [taylor]: Taking taylor expansion of delta in theta 28.103 * [backup-simplify]: Simplify delta into delta 28.103 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.103 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.103 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.103 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 28.103 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 28.103 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.103 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.103 * [taylor]: Taking taylor expansion of phi1 in theta 28.104 * [backup-simplify]: Simplify phi1 into phi1 28.104 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.104 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.104 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.104 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 28.104 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.104 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.104 * [taylor]: Taking taylor expansion of delta in theta 28.104 * [backup-simplify]: Simplify delta into delta 28.104 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.104 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.104 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.104 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 28.104 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.104 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.104 * [taylor]: Taking taylor expansion of theta in theta 28.104 * [backup-simplify]: Simplify 0 into 0 28.104 * [backup-simplify]: Simplify 1 into 1 28.105 * [backup-simplify]: Simplify (/ 1 1) into 1 28.105 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.105 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.105 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.105 * [taylor]: Taking taylor expansion of phi1 in theta 28.105 * [backup-simplify]: Simplify phi1 into phi1 28.105 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.105 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.105 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.105 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 28.105 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 28.105 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.105 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.105 * [taylor]: Taking taylor expansion of phi1 in theta 28.105 * [backup-simplify]: Simplify phi1 into phi1 28.105 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.106 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.106 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.106 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.106 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.106 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.106 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.106 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.106 * [taylor]: Taking taylor expansion of delta in theta 28.106 * [backup-simplify]: Simplify delta into delta 28.106 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.106 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.106 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.106 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.106 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.107 * [backup-simplify]: Simplify (- 0) into 0 28.107 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.107 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.107 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.108 * [backup-simplify]: Simplify (- 0) into 0 28.108 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.108 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.108 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.108 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.108 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.108 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.108 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.108 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 28.108 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.109 * [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))))) 28.109 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.109 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.109 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.109 * [backup-simplify]: Simplify (- 0) into 0 28.110 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.110 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 28.110 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 28.111 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.112 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.112 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (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))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 28.113 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ 1 delta)))) into 0 28.114 * [backup-simplify]: Simplify (+ 0) into 0 28.114 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.114 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.116 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.116 * [backup-simplify]: Simplify (- 0) into 0 28.116 * [backup-simplify]: Simplify (+ 0 0) into 0 28.117 * [backup-simplify]: Simplify (+ 0) into 0 28.117 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.117 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.119 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.119 * [backup-simplify]: Simplify (- 0) into 0 28.119 * [backup-simplify]: Simplify (+ 0 0) into 0 28.120 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.120 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 28.120 * [backup-simplify]: Simplify (+ 0) into 0 28.121 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.121 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.122 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.123 * [backup-simplify]: Simplify (+ 0 0) into 0 28.123 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.123 * [backup-simplify]: Simplify (+ 0 0) into 0 28.124 * [backup-simplify]: Simplify (+ 0) into 0 28.124 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.124 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.126 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.126 * [backup-simplify]: Simplify (+ 0 0) into 0 28.126 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 28.127 * [backup-simplify]: Simplify (- 0) into 0 28.127 * [backup-simplify]: Simplify (+ 0 0) into 0 28.127 * [taylor]: Taking taylor expansion of 0 in phi1 28.127 * [backup-simplify]: Simplify 0 into 0 28.128 * [taylor]: Taking taylor expansion of 0 in theta 28.128 * [backup-simplify]: Simplify 0 into 0 28.128 * [backup-simplify]: Simplify 0 into 0 28.128 * [backup-simplify]: Simplify (+ 0) into 0 28.129 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.130 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.130 * [backup-simplify]: Simplify (- 0) into 0 28.131 * [backup-simplify]: Simplify (+ 0 0) into 0 28.131 * [backup-simplify]: Simplify (+ 0) into 0 28.132 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.133 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.133 * [backup-simplify]: Simplify (- 0) into 0 28.134 * [backup-simplify]: Simplify (+ 0 0) into 0 28.135 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.135 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 28.135 * [backup-simplify]: Simplify (+ 0) into 0 28.136 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.136 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.137 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.137 * [backup-simplify]: Simplify (+ 0 0) into 0 28.137 * [backup-simplify]: Simplify (+ 0) into 0 28.138 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.138 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.138 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.139 * [backup-simplify]: Simplify (- 0) into 0 28.139 * [backup-simplify]: Simplify (+ 0 0) into 0 28.139 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.139 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.139 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 28.140 * [backup-simplify]: Simplify (+ 0 0) into 0 28.140 * [backup-simplify]: Simplify (- 0) into 0 28.140 * [backup-simplify]: Simplify (+ 0 0) into 0 28.140 * [taylor]: Taking taylor expansion of 0 in theta 28.140 * [backup-simplify]: Simplify 0 into 0 28.140 * [backup-simplify]: Simplify 0 into 0 28.140 * [backup-simplify]: Simplify (+ 0) into 0 28.141 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.141 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.142 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.142 * [backup-simplify]: Simplify (- 0) into 0 28.142 * [backup-simplify]: Simplify (+ 0 0) into 0 28.142 * [backup-simplify]: Simplify (+ 0) into 0 28.143 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.143 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.143 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.144 * [backup-simplify]: Simplify (+ 0 0) into 0 28.144 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.144 * [backup-simplify]: Simplify (+ 0) into 0 28.144 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.144 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.145 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.145 * [backup-simplify]: Simplify (+ 0 0) into 0 28.145 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 28.146 * [backup-simplify]: Simplify (+ 0) into 0 28.146 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.146 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.147 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.147 * [backup-simplify]: Simplify (- 0) into 0 28.147 * [backup-simplify]: Simplify (+ 0 0) into 0 28.148 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.148 * [backup-simplify]: Simplify (+ 0) into 0 28.148 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.148 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.149 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.149 * [backup-simplify]: Simplify (- 0) into 0 28.149 * [backup-simplify]: Simplify (+ 0 0) into 0 28.150 * [backup-simplify]: Simplify (+ 0) into 0 28.150 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.150 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.151 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.151 * [backup-simplify]: Simplify (+ 0 0) into 0 28.151 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.151 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 28.152 * [backup-simplify]: Simplify (+ 0 0) into 0 28.152 * [backup-simplify]: Simplify (- 0) into 0 28.152 * [backup-simplify]: Simplify (+ 0 0) into 0 28.152 * [backup-simplify]: Simplify 0 into 0 28.153 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.154 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.154 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.155 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.155 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.155 * [backup-simplify]: Simplify (- 0) into 0 28.155 * [backup-simplify]: Simplify (+ 0 0) into 0 28.156 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.156 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.157 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.157 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.157 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.158 * [backup-simplify]: Simplify (- 0) into 0 28.158 * [backup-simplify]: Simplify (+ 0 0) into 0 28.158 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.159 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 28.159 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.160 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.160 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.160 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.160 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.161 * [backup-simplify]: Simplify (+ 0 0) into 0 28.161 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.161 * [backup-simplify]: Simplify (+ 0 0) into 0 28.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.162 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.163 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.163 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.164 * [backup-simplify]: Simplify (+ 0 0) into 0 28.164 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 28.169 * [backup-simplify]: Simplify (- 0) into 0 28.170 * [backup-simplify]: Simplify (+ 0 0) into 0 28.170 * [taylor]: Taking taylor expansion of 0 in phi1 28.170 * [backup-simplify]: Simplify 0 into 0 28.170 * [taylor]: Taking taylor expansion of 0 in theta 28.170 * [backup-simplify]: Simplify 0 into 0 28.170 * [backup-simplify]: Simplify 0 into 0 28.170 * [taylor]: Taking taylor expansion of 0 in theta 28.170 * [backup-simplify]: Simplify 0 into 0 28.170 * [backup-simplify]: Simplify 0 into 0 28.171 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.172 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.172 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.173 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.174 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.174 * [backup-simplify]: Simplify (- 0) into 0 28.174 * [backup-simplify]: Simplify (+ 0 0) into 0 28.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.176 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.176 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.178 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.178 * [backup-simplify]: Simplify (- 0) into 0 28.178 * [backup-simplify]: Simplify (+ 0 0) into 0 28.179 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.179 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.181 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.181 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.182 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.183 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.183 * [backup-simplify]: Simplify (+ 0 0) into 0 28.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.185 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.185 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.186 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.186 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.186 * [backup-simplify]: Simplify (- 0) into 0 28.187 * [backup-simplify]: Simplify (+ 0 0) into 0 28.187 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.188 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.188 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 28.189 * [backup-simplify]: Simplify (+ 0 0) into 0 28.189 * [backup-simplify]: Simplify (- 0) into 0 28.189 * [backup-simplify]: Simplify (+ 0 0) into 0 28.189 * [taylor]: Taking taylor expansion of 0 in theta 28.189 * [backup-simplify]: Simplify 0 into 0 28.189 * [backup-simplify]: Simplify 0 into 0 28.190 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2)))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 28.190 * [backup-simplify]: Simplify (fma 1 (cos (/ 1 (- delta))) (- (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))) into (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.190 * [approximate]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in (delta phi1 theta) around 0 28.190 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in theta 28.190 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.190 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in theta 28.190 * [taylor]: Taking taylor expansion of 1 in theta 28.190 * [backup-simplify]: Simplify 1 into 1 28.190 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.190 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.190 * [taylor]: Taking taylor expansion of -1 in theta 28.190 * [backup-simplify]: Simplify -1 into -1 28.190 * [taylor]: Taking taylor expansion of delta in theta 28.190 * [backup-simplify]: Simplify delta into delta 28.190 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.190 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.190 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.190 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 28.190 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.190 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.191 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.191 * [taylor]: Taking taylor expansion of -1 in theta 28.191 * [backup-simplify]: Simplify -1 into -1 28.191 * [taylor]: Taking taylor expansion of phi1 in theta 28.191 * [backup-simplify]: Simplify phi1 into phi1 28.191 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.191 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.191 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.191 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.191 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.191 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 28.191 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.191 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.191 * [taylor]: Taking taylor expansion of -1 in theta 28.191 * [backup-simplify]: Simplify -1 into -1 28.191 * [taylor]: Taking taylor expansion of delta in theta 28.191 * [backup-simplify]: Simplify delta into delta 28.191 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.191 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.191 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.191 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 28.191 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.191 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.191 * [taylor]: Taking taylor expansion of -1 in theta 28.191 * [backup-simplify]: Simplify -1 into -1 28.191 * [taylor]: Taking taylor expansion of phi1 in theta 28.191 * [backup-simplify]: Simplify phi1 into phi1 28.191 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.191 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.191 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.191 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.191 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.191 * [taylor]: Taking taylor expansion of -1 in theta 28.191 * [backup-simplify]: Simplify -1 into -1 28.191 * [taylor]: Taking taylor expansion of theta in theta 28.191 * [backup-simplify]: Simplify 0 into 0 28.191 * [backup-simplify]: Simplify 1 into 1 28.192 * [backup-simplify]: Simplify (/ -1 1) into -1 28.192 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.192 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.192 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.192 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.192 * [taylor]: Taking taylor expansion of -1 in theta 28.192 * [backup-simplify]: Simplify -1 into -1 28.192 * [taylor]: Taking taylor expansion of phi1 in theta 28.192 * [backup-simplify]: Simplify phi1 into phi1 28.192 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.192 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.192 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.192 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.192 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.192 * [taylor]: Taking taylor expansion of -1 in theta 28.192 * [backup-simplify]: Simplify -1 into -1 28.192 * [taylor]: Taking taylor expansion of delta in theta 28.192 * [backup-simplify]: Simplify delta into delta 28.192 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.192 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.192 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.192 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in phi1 28.192 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.192 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in phi1 28.192 * [taylor]: Taking taylor expansion of 1 in phi1 28.192 * [backup-simplify]: Simplify 1 into 1 28.192 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.192 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.192 * [taylor]: Taking taylor expansion of -1 in phi1 28.192 * [backup-simplify]: Simplify -1 into -1 28.192 * [taylor]: Taking taylor expansion of delta in phi1 28.192 * [backup-simplify]: Simplify delta into delta 28.192 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.192 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.192 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.192 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 28.192 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.192 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.192 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.193 * [taylor]: Taking taylor expansion of -1 in phi1 28.193 * [backup-simplify]: Simplify -1 into -1 28.193 * [taylor]: Taking taylor expansion of phi1 in phi1 28.193 * [backup-simplify]: Simplify 0 into 0 28.193 * [backup-simplify]: Simplify 1 into 1 28.193 * [backup-simplify]: Simplify (/ -1 1) into -1 28.193 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.193 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.193 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.193 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 28.193 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.193 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.193 * [taylor]: Taking taylor expansion of -1 in phi1 28.193 * [backup-simplify]: Simplify -1 into -1 28.193 * [taylor]: Taking taylor expansion of delta in phi1 28.193 * [backup-simplify]: Simplify delta into delta 28.193 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.193 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.193 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.193 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 28.193 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.193 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.193 * [taylor]: Taking taylor expansion of -1 in phi1 28.193 * [backup-simplify]: Simplify -1 into -1 28.193 * [taylor]: Taking taylor expansion of phi1 in phi1 28.193 * [backup-simplify]: Simplify 0 into 0 28.193 * [backup-simplify]: Simplify 1 into 1 28.194 * [backup-simplify]: Simplify (/ -1 1) into -1 28.194 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.194 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.194 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.194 * [taylor]: Taking taylor expansion of -1 in phi1 28.194 * [backup-simplify]: Simplify -1 into -1 28.194 * [taylor]: Taking taylor expansion of theta in phi1 28.194 * [backup-simplify]: Simplify theta into theta 28.194 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.194 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.194 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.194 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.194 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.194 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.194 * [taylor]: Taking taylor expansion of -1 in phi1 28.194 * [backup-simplify]: Simplify -1 into -1 28.194 * [taylor]: Taking taylor expansion of phi1 in phi1 28.194 * [backup-simplify]: Simplify 0 into 0 28.194 * [backup-simplify]: Simplify 1 into 1 28.194 * [backup-simplify]: Simplify (/ -1 1) into -1 28.194 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.194 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.194 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.194 * [taylor]: Taking taylor expansion of -1 in phi1 28.194 * [backup-simplify]: Simplify -1 into -1 28.194 * [taylor]: Taking taylor expansion of delta in phi1 28.194 * [backup-simplify]: Simplify delta into delta 28.194 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.194 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.194 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.195 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 28.195 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.195 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 28.195 * [taylor]: Taking taylor expansion of 1 in delta 28.195 * [backup-simplify]: Simplify 1 into 1 28.195 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.195 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.195 * [taylor]: Taking taylor expansion of -1 in delta 28.195 * [backup-simplify]: Simplify -1 into -1 28.195 * [taylor]: Taking taylor expansion of delta in delta 28.195 * [backup-simplify]: Simplify 0 into 0 28.195 * [backup-simplify]: Simplify 1 into 1 28.195 * [backup-simplify]: Simplify (/ -1 1) into -1 28.195 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.195 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 28.195 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.195 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.195 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.195 * [taylor]: Taking taylor expansion of -1 in delta 28.195 * [backup-simplify]: Simplify -1 into -1 28.195 * [taylor]: Taking taylor expansion of phi1 in delta 28.195 * [backup-simplify]: Simplify phi1 into phi1 28.195 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.195 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.195 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.195 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.195 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.195 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 28.195 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.195 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.195 * [taylor]: Taking taylor expansion of -1 in delta 28.195 * [backup-simplify]: Simplify -1 into -1 28.195 * [taylor]: Taking taylor expansion of delta in delta 28.195 * [backup-simplify]: Simplify 0 into 0 28.195 * [backup-simplify]: Simplify 1 into 1 28.196 * [backup-simplify]: Simplify (/ -1 1) into -1 28.196 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.196 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 28.196 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.196 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.196 * [taylor]: Taking taylor expansion of -1 in delta 28.196 * [backup-simplify]: Simplify -1 into -1 28.196 * [taylor]: Taking taylor expansion of phi1 in delta 28.196 * [backup-simplify]: Simplify phi1 into phi1 28.196 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.196 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.196 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.196 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.196 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.196 * [taylor]: Taking taylor expansion of -1 in delta 28.196 * [backup-simplify]: Simplify -1 into -1 28.196 * [taylor]: Taking taylor expansion of theta in delta 28.196 * [backup-simplify]: Simplify theta into theta 28.196 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.196 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.196 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.196 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.196 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.196 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.196 * [taylor]: Taking taylor expansion of -1 in delta 28.196 * [backup-simplify]: Simplify -1 into -1 28.196 * [taylor]: Taking taylor expansion of phi1 in delta 28.196 * [backup-simplify]: Simplify phi1 into phi1 28.196 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.196 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.196 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.196 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.196 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.197 * [taylor]: Taking taylor expansion of -1 in delta 28.197 * [backup-simplify]: Simplify -1 into -1 28.197 * [taylor]: Taking taylor expansion of delta in delta 28.197 * [backup-simplify]: Simplify 0 into 0 28.197 * [backup-simplify]: Simplify 1 into 1 28.197 * [backup-simplify]: Simplify (/ -1 1) into -1 28.197 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.197 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 28.197 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.197 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 28.197 * [taylor]: Taking taylor expansion of 1 in delta 28.197 * [backup-simplify]: Simplify 1 into 1 28.197 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.197 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.197 * [taylor]: Taking taylor expansion of -1 in delta 28.197 * [backup-simplify]: Simplify -1 into -1 28.197 * [taylor]: Taking taylor expansion of delta in delta 28.197 * [backup-simplify]: Simplify 0 into 0 28.197 * [backup-simplify]: Simplify 1 into 1 28.197 * [backup-simplify]: Simplify (/ -1 1) into -1 28.197 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.197 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 28.197 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.198 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.198 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.198 * [taylor]: Taking taylor expansion of -1 in delta 28.198 * [backup-simplify]: Simplify -1 into -1 28.198 * [taylor]: Taking taylor expansion of phi1 in delta 28.198 * [backup-simplify]: Simplify phi1 into phi1 28.198 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.198 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.198 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.198 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.198 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.198 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 28.198 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.198 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.198 * [taylor]: Taking taylor expansion of -1 in delta 28.198 * [backup-simplify]: Simplify -1 into -1 28.198 * [taylor]: Taking taylor expansion of delta in delta 28.198 * [backup-simplify]: Simplify 0 into 0 28.198 * [backup-simplify]: Simplify 1 into 1 28.198 * [backup-simplify]: Simplify (/ -1 1) into -1 28.198 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.198 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 28.198 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.198 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.198 * [taylor]: Taking taylor expansion of -1 in delta 28.198 * [backup-simplify]: Simplify -1 into -1 28.198 * [taylor]: Taking taylor expansion of phi1 in delta 28.198 * [backup-simplify]: Simplify phi1 into phi1 28.198 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.198 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.198 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.198 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.198 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.198 * [taylor]: Taking taylor expansion of -1 in delta 28.198 * [backup-simplify]: Simplify -1 into -1 28.198 * [taylor]: Taking taylor expansion of theta in delta 28.199 * [backup-simplify]: Simplify theta into theta 28.199 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.199 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.199 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.199 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.199 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.199 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.199 * [taylor]: Taking taylor expansion of -1 in delta 28.199 * [backup-simplify]: Simplify -1 into -1 28.199 * [taylor]: Taking taylor expansion of phi1 in delta 28.199 * [backup-simplify]: Simplify phi1 into phi1 28.199 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.199 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.199 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.199 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.199 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.199 * [taylor]: Taking taylor expansion of -1 in delta 28.199 * [backup-simplify]: Simplify -1 into -1 28.199 * [taylor]: Taking taylor expansion of delta in delta 28.199 * [backup-simplify]: Simplify 0 into 0 28.199 * [backup-simplify]: Simplify 1 into 1 28.199 * [backup-simplify]: Simplify (/ -1 1) into -1 28.199 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.199 * [backup-simplify]: Simplify (* 1 (cos (/ -1 delta))) into (cos (/ -1 delta)) 28.199 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.199 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.200 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.200 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.200 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.200 * [backup-simplify]: Simplify (- 0) into 0 28.200 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.200 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.200 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.200 * [backup-simplify]: Simplify (- 0) into 0 28.200 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.200 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 28.201 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 28.201 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.201 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.201 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.201 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.201 * [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))))) 28.201 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 28.201 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.202 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.202 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 28.202 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.202 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.202 * [taylor]: Taking taylor expansion of -1 in phi1 28.202 * [backup-simplify]: Simplify -1 into -1 28.202 * [taylor]: Taking taylor expansion of delta in phi1 28.202 * [backup-simplify]: Simplify delta into delta 28.202 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.202 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.202 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.202 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 28.202 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 28.202 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 28.202 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.202 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.202 * [taylor]: Taking taylor expansion of -1 in phi1 28.202 * [backup-simplify]: Simplify -1 into -1 28.202 * [taylor]: Taking taylor expansion of phi1 in phi1 28.202 * [backup-simplify]: Simplify 0 into 0 28.202 * [backup-simplify]: Simplify 1 into 1 28.203 * [backup-simplify]: Simplify (/ -1 1) into -1 28.203 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.203 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.203 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.203 * [taylor]: Taking taylor expansion of -1 in phi1 28.203 * [backup-simplify]: Simplify -1 into -1 28.203 * [taylor]: Taking taylor expansion of delta in phi1 28.203 * [backup-simplify]: Simplify delta into delta 28.203 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.203 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.203 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.203 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 28.203 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.203 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.203 * [taylor]: Taking taylor expansion of -1 in phi1 28.203 * [backup-simplify]: Simplify -1 into -1 28.203 * [taylor]: Taking taylor expansion of phi1 in phi1 28.203 * [backup-simplify]: Simplify 0 into 0 28.203 * [backup-simplify]: Simplify 1 into 1 28.203 * [backup-simplify]: Simplify (/ -1 1) into -1 28.203 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.203 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 28.203 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.203 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.203 * [taylor]: Taking taylor expansion of -1 in phi1 28.203 * [backup-simplify]: Simplify -1 into -1 28.203 * [taylor]: Taking taylor expansion of delta in phi1 28.203 * [backup-simplify]: Simplify delta into delta 28.203 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.204 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.204 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.204 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 28.204 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.204 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.204 * [taylor]: Taking taylor expansion of -1 in phi1 28.204 * [backup-simplify]: Simplify -1 into -1 28.204 * [taylor]: Taking taylor expansion of theta in phi1 28.204 * [backup-simplify]: Simplify theta into theta 28.204 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.204 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.204 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.204 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.204 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.204 * [taylor]: Taking taylor expansion of -1 in phi1 28.204 * [backup-simplify]: Simplify -1 into -1 28.204 * [taylor]: Taking taylor expansion of phi1 in phi1 28.204 * [backup-simplify]: Simplify 0 into 0 28.204 * [backup-simplify]: Simplify 1 into 1 28.204 * [backup-simplify]: Simplify (/ -1 1) into -1 28.204 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.204 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.204 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.205 * [backup-simplify]: Simplify (- 0) into 0 28.205 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.205 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.205 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.205 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.205 * [backup-simplify]: Simplify (- 0) into 0 28.205 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.205 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.205 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.205 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.205 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.205 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.206 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.206 * [backup-simplify]: Simplify (- 0) into 0 28.206 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.206 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 28.206 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 28.206 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 28.206 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 28.207 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.207 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.207 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 28.207 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.207 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.207 * [taylor]: Taking taylor expansion of -1 in theta 28.207 * [backup-simplify]: Simplify -1 into -1 28.207 * [taylor]: Taking taylor expansion of delta in theta 28.207 * [backup-simplify]: Simplify delta into delta 28.207 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.207 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.207 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.207 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 28.207 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 28.207 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 28.207 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.207 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.207 * [taylor]: Taking taylor expansion of -1 in theta 28.208 * [backup-simplify]: Simplify -1 into -1 28.208 * [taylor]: Taking taylor expansion of phi1 in theta 28.208 * [backup-simplify]: Simplify phi1 into phi1 28.208 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.208 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.208 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.208 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.208 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.208 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.208 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.208 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.208 * [taylor]: Taking taylor expansion of -1 in theta 28.208 * [backup-simplify]: Simplify -1 into -1 28.208 * [taylor]: Taking taylor expansion of delta in theta 28.208 * [backup-simplify]: Simplify delta into delta 28.208 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.208 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.208 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.208 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 28.208 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.208 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.208 * [taylor]: Taking taylor expansion of -1 in theta 28.208 * [backup-simplify]: Simplify -1 into -1 28.208 * [taylor]: Taking taylor expansion of phi1 in theta 28.208 * [backup-simplify]: Simplify phi1 into phi1 28.208 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.208 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.208 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.208 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 28.208 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.208 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.208 * [taylor]: Taking taylor expansion of -1 in theta 28.208 * [backup-simplify]: Simplify -1 into -1 28.208 * [taylor]: Taking taylor expansion of delta in theta 28.208 * [backup-simplify]: Simplify delta into delta 28.208 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.208 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.209 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.209 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 28.209 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.209 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.209 * [taylor]: Taking taylor expansion of -1 in theta 28.209 * [backup-simplify]: Simplify -1 into -1 28.209 * [taylor]: Taking taylor expansion of theta in theta 28.209 * [backup-simplify]: Simplify 0 into 0 28.209 * [backup-simplify]: Simplify 1 into 1 28.209 * [backup-simplify]: Simplify (/ -1 1) into -1 28.209 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.209 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.209 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.209 * [taylor]: Taking taylor expansion of -1 in theta 28.210 * [backup-simplify]: Simplify -1 into -1 28.210 * [taylor]: Taking taylor expansion of phi1 in theta 28.210 * [backup-simplify]: Simplify phi1 into phi1 28.210 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.210 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.210 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.210 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.210 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.210 * [backup-simplify]: Simplify (- 0) into 0 28.210 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.211 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.211 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.211 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.211 * [backup-simplify]: Simplify (- 0) into 0 28.211 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.211 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.212 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.212 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.212 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.212 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.212 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.212 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.212 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.212 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.213 * [backup-simplify]: Simplify (- 0) into 0 28.213 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.213 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 28.213 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 28.213 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 28.214 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 28.214 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.215 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.216 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.217 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ -1 delta)))) into 0 28.217 * [backup-simplify]: Simplify (+ 0) into 0 28.218 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.218 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.219 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.219 * [backup-simplify]: Simplify (- 0) into 0 28.220 * [backup-simplify]: Simplify (+ 0 0) into 0 28.220 * [backup-simplify]: Simplify (+ 0) into 0 28.221 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.221 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.222 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.223 * [backup-simplify]: Simplify (- 0) into 0 28.223 * [backup-simplify]: Simplify (+ 0 0) into 0 28.223 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 28.223 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 28.224 * [backup-simplify]: Simplify (+ 0) into 0 28.224 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.226 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.226 * [backup-simplify]: Simplify (+ 0 0) into 0 28.226 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.227 * [backup-simplify]: Simplify (+ 0 0) into 0 28.227 * [backup-simplify]: Simplify (+ 0) into 0 28.228 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.228 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.229 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.229 * [backup-simplify]: Simplify (+ 0 0) into 0 28.230 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 28.230 * [backup-simplify]: Simplify (- 0) into 0 28.231 * [backup-simplify]: Simplify (+ 0 0) into 0 28.231 * [taylor]: Taking taylor expansion of 0 in phi1 28.231 * [backup-simplify]: Simplify 0 into 0 28.231 * [taylor]: Taking taylor expansion of 0 in theta 28.231 * [backup-simplify]: Simplify 0 into 0 28.231 * [backup-simplify]: Simplify 0 into 0 28.231 * [backup-simplify]: Simplify (+ 0) into 0 28.232 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.232 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.233 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.234 * [backup-simplify]: Simplify (- 0) into 0 28.234 * [backup-simplify]: Simplify (+ 0 0) into 0 28.235 * [backup-simplify]: Simplify (+ 0) into 0 28.235 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.235 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.237 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.237 * [backup-simplify]: Simplify (- 0) into 0 28.237 * [backup-simplify]: Simplify (+ 0 0) into 0 28.238 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.238 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.239 * [backup-simplify]: Simplify (+ 0) into 0 28.239 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.239 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.240 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.241 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.241 * [backup-simplify]: Simplify (- 0) into 0 28.241 * [backup-simplify]: Simplify (+ 0 0) into 0 28.242 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.242 * [backup-simplify]: Simplify (+ 0) into 0 28.243 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.243 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.244 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.244 * [backup-simplify]: Simplify (+ 0 0) into 0 28.245 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 28.245 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.245 * [backup-simplify]: Simplify (+ 0 0) into 0 28.246 * [backup-simplify]: Simplify (- 0) into 0 28.246 * [backup-simplify]: Simplify (+ 0 0) into 0 28.246 * [taylor]: Taking taylor expansion of 0 in theta 28.246 * [backup-simplify]: Simplify 0 into 0 28.246 * [backup-simplify]: Simplify 0 into 0 28.247 * [backup-simplify]: Simplify (+ 0) into 0 28.247 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.247 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.249 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.249 * [backup-simplify]: Simplify (- 0) into 0 28.249 * [backup-simplify]: Simplify (+ 0 0) into 0 28.250 * [backup-simplify]: Simplify (+ 0) into 0 28.251 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.251 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.252 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.253 * [backup-simplify]: Simplify (- 0) into 0 28.253 * [backup-simplify]: Simplify (+ 0 0) into 0 28.253 * [backup-simplify]: Simplify (+ 0) into 0 28.254 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.254 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.255 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.255 * [backup-simplify]: Simplify (+ 0 0) into 0 28.255 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.255 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.255 * [backup-simplify]: Simplify (+ 0) into 0 28.256 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.256 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.257 * [backup-simplify]: Simplify (- 0) into 0 28.257 * [backup-simplify]: Simplify (+ 0 0) into 0 28.257 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.257 * [backup-simplify]: Simplify (+ 0) into 0 28.258 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.258 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.258 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.259 * [backup-simplify]: Simplify (+ 0 0) into 0 28.259 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 28.259 * [backup-simplify]: Simplify (+ 0) into 0 28.259 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.260 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.261 * [backup-simplify]: Simplify (+ 0 0) into 0 28.261 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.261 * [backup-simplify]: Simplify (+ 0 0) into 0 28.261 * [backup-simplify]: Simplify (- 0) into 0 28.262 * [backup-simplify]: Simplify (+ 0 0) into 0 28.262 * [backup-simplify]: Simplify 0 into 0 28.262 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.263 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.263 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.263 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.264 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.264 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.264 * [backup-simplify]: Simplify (- 0) into 0 28.264 * [backup-simplify]: Simplify (+ 0 0) into 0 28.265 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.265 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.266 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.266 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.266 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.267 * [backup-simplify]: Simplify (- 0) into 0 28.267 * [backup-simplify]: Simplify (+ 0 0) into 0 28.267 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 28.268 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 28.268 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.269 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.269 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.270 * [backup-simplify]: Simplify (+ 0 0) into 0 28.270 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.270 * [backup-simplify]: Simplify (+ 0 0) into 0 28.271 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.271 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.272 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.272 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.272 * [backup-simplify]: Simplify (+ 0 0) into 0 28.273 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 28.274 * [backup-simplify]: Simplify (- 0) into 0 28.274 * [backup-simplify]: Simplify (+ 0 0) into 0 28.274 * [taylor]: Taking taylor expansion of 0 in phi1 28.274 * [backup-simplify]: Simplify 0 into 0 28.274 * [taylor]: Taking taylor expansion of 0 in theta 28.274 * [backup-simplify]: Simplify 0 into 0 28.274 * [backup-simplify]: Simplify 0 into 0 28.274 * [taylor]: Taking taylor expansion of 0 in theta 28.274 * [backup-simplify]: Simplify 0 into 0 28.274 * [backup-simplify]: Simplify 0 into 0 28.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.276 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.276 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.278 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.278 * [backup-simplify]: Simplify (- 0) into 0 28.278 * [backup-simplify]: Simplify (+ 0 0) into 0 28.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.280 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.280 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.282 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.282 * [backup-simplify]: Simplify (- 0) into 0 28.283 * [backup-simplify]: Simplify (+ 0 0) into 0 28.283 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 28.284 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.285 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.285 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.286 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.287 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.287 * [backup-simplify]: Simplify (- 0) into 0 28.288 * [backup-simplify]: Simplify (+ 0 0) into 0 28.288 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 28.289 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.289 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.290 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.290 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.290 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.291 * [backup-simplify]: Simplify (+ 0 0) into 0 28.291 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 28.291 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 28.292 * [backup-simplify]: Simplify (+ 0 0) into 0 28.292 * [backup-simplify]: Simplify (- 0) into 0 28.292 * [backup-simplify]: Simplify (+ 0 0) into 0 28.292 * [taylor]: Taking taylor expansion of 0 in theta 28.292 * [backup-simplify]: Simplify 0 into 0 28.292 * [backup-simplify]: Simplify 0 into 0 28.293 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 28.293 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 1 1 1 1 1 2) 28.293 * [backup-simplify]: Simplify (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) into (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.293 * [approximate]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in (delta phi1 theta) around 0 28.293 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in theta 28.293 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.293 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in theta 28.293 * [taylor]: Taking taylor expansion of 1 in theta 28.293 * [backup-simplify]: Simplify 1 into 1 28.293 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.293 * [taylor]: Taking taylor expansion of delta in theta 28.293 * [backup-simplify]: Simplify delta into delta 28.293 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.293 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.293 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in theta 28.293 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in theta 28.293 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.293 * [taylor]: Taking taylor expansion of phi1 in theta 28.293 * [backup-simplify]: Simplify phi1 into phi1 28.293 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.293 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.293 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in theta 28.293 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.293 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 28.293 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.293 * [taylor]: Taking taylor expansion of delta in theta 28.293 * [backup-simplify]: Simplify delta into delta 28.293 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.293 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.293 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 28.294 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.294 * [taylor]: Taking taylor expansion of phi1 in theta 28.294 * [backup-simplify]: Simplify phi1 into phi1 28.294 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.294 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.294 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.294 * [taylor]: Taking taylor expansion of theta in theta 28.294 * [backup-simplify]: Simplify 0 into 0 28.294 * [backup-simplify]: Simplify 1 into 1 28.294 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 28.294 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.294 * [taylor]: Taking taylor expansion of phi1 in theta 28.294 * [backup-simplify]: Simplify phi1 into phi1 28.294 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.294 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.294 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.294 * [taylor]: Taking taylor expansion of delta in theta 28.294 * [backup-simplify]: Simplify delta into delta 28.294 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.294 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.294 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in phi1 28.294 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.294 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in phi1 28.294 * [taylor]: Taking taylor expansion of 1 in phi1 28.294 * [backup-simplify]: Simplify 1 into 1 28.294 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.294 * [taylor]: Taking taylor expansion of delta in phi1 28.294 * [backup-simplify]: Simplify delta into delta 28.294 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.294 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.294 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in phi1 28.294 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in phi1 28.294 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.294 * [taylor]: Taking taylor expansion of phi1 in phi1 28.294 * [backup-simplify]: Simplify 0 into 0 28.294 * [backup-simplify]: Simplify 1 into 1 28.294 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in phi1 28.294 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.294 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 28.294 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.294 * [taylor]: Taking taylor expansion of delta in phi1 28.294 * [backup-simplify]: Simplify delta into delta 28.294 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.294 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.294 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 28.294 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.294 * [taylor]: Taking taylor expansion of phi1 in phi1 28.294 * [backup-simplify]: Simplify 0 into 0 28.294 * [backup-simplify]: Simplify 1 into 1 28.294 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.294 * [taylor]: Taking taylor expansion of theta in phi1 28.294 * [backup-simplify]: Simplify theta into theta 28.294 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.294 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.294 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.295 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.295 * [taylor]: Taking taylor expansion of phi1 in phi1 28.295 * [backup-simplify]: Simplify 0 into 0 28.295 * [backup-simplify]: Simplify 1 into 1 28.295 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.295 * [taylor]: Taking taylor expansion of delta in phi1 28.295 * [backup-simplify]: Simplify delta into delta 28.295 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.295 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.295 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 28.295 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.295 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 28.295 * [taylor]: Taking taylor expansion of 1 in delta 28.295 * [backup-simplify]: Simplify 1 into 1 28.295 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.295 * [taylor]: Taking taylor expansion of delta in delta 28.295 * [backup-simplify]: Simplify 0 into 0 28.295 * [backup-simplify]: Simplify 1 into 1 28.295 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 28.295 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 28.295 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.295 * [taylor]: Taking taylor expansion of phi1 in delta 28.295 * [backup-simplify]: Simplify phi1 into phi1 28.295 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.295 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.295 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 28.295 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.295 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 28.295 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.295 * [taylor]: Taking taylor expansion of delta in delta 28.295 * [backup-simplify]: Simplify 0 into 0 28.295 * [backup-simplify]: Simplify 1 into 1 28.295 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 28.295 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.295 * [taylor]: Taking taylor expansion of phi1 in delta 28.295 * [backup-simplify]: Simplify phi1 into phi1 28.295 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.295 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.295 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.295 * [taylor]: Taking taylor expansion of theta in delta 28.295 * [backup-simplify]: Simplify theta into theta 28.295 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.295 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.295 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.295 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.295 * [taylor]: Taking taylor expansion of phi1 in delta 28.295 * [backup-simplify]: Simplify phi1 into phi1 28.295 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.295 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.295 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.295 * [taylor]: Taking taylor expansion of delta in delta 28.295 * [backup-simplify]: Simplify 0 into 0 28.296 * [backup-simplify]: Simplify 1 into 1 28.296 * [taylor]: Taking taylor expansion of (fma 1 (cos delta) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) in delta 28.296 * [taylor]: Rewrote expression to (+ (* 1 (cos delta)) (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) 28.296 * [taylor]: Taking taylor expansion of (* 1 (cos delta)) in delta 28.296 * [taylor]: Taking taylor expansion of 1 in delta 28.296 * [backup-simplify]: Simplify 1 into 1 28.296 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.296 * [taylor]: Taking taylor expansion of delta in delta 28.296 * [backup-simplify]: Simplify 0 into 0 28.296 * [backup-simplify]: Simplify 1 into 1 28.296 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) in delta 28.296 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))) in delta 28.296 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.296 * [taylor]: Taking taylor expansion of phi1 in delta 28.296 * [backup-simplify]: Simplify phi1 into phi1 28.296 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.296 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.296 * [taylor]: Taking taylor expansion of (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))) in delta 28.296 * [taylor]: Rewrote expression to (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 28.296 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 28.296 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.296 * [taylor]: Taking taylor expansion of delta in delta 28.296 * [backup-simplify]: Simplify 0 into 0 28.296 * [backup-simplify]: Simplify 1 into 1 28.296 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 28.296 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.296 * [taylor]: Taking taylor expansion of phi1 in delta 28.296 * [backup-simplify]: Simplify phi1 into phi1 28.296 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.296 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.296 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.296 * [taylor]: Taking taylor expansion of theta in delta 28.296 * [backup-simplify]: Simplify theta into theta 28.296 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.296 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.296 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.296 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.296 * [taylor]: Taking taylor expansion of phi1 in delta 28.296 * [backup-simplify]: Simplify phi1 into phi1 28.296 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.296 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.296 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.296 * [taylor]: Taking taylor expansion of delta in delta 28.296 * [backup-simplify]: Simplify 0 into 0 28.296 * [backup-simplify]: Simplify 1 into 1 28.300 * [backup-simplify]: Simplify (* 1 1) into 1 28.300 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.300 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.300 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.300 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.300 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.300 * [backup-simplify]: Simplify (- 0) into 0 28.301 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.301 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.301 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.301 * [backup-simplify]: Simplify (- 0) into 0 28.301 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.301 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 28.301 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 28.301 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.301 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.301 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.301 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.301 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 28.301 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 28.301 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 28.301 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 28.301 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 28.301 * [taylor]: Taking taylor expansion of 1 in phi1 28.301 * [backup-simplify]: Simplify 1 into 1 28.302 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.302 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.302 * [taylor]: Taking taylor expansion of phi1 in phi1 28.302 * [backup-simplify]: Simplify 0 into 0 28.302 * [backup-simplify]: Simplify 1 into 1 28.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.302 * [backup-simplify]: Simplify (+ 1 0) into 1 28.302 * [taylor]: Taking taylor expansion of 1 in theta 28.302 * [backup-simplify]: Simplify 1 into 1 28.302 * [backup-simplify]: Simplify 1 into 1 28.303 * [backup-simplify]: Simplify (+ 0) into 0 28.303 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 28.303 * [backup-simplify]: Simplify (+ 0) into 0 28.304 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.304 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.305 * [backup-simplify]: Simplify (- 0) into 0 28.305 * [backup-simplify]: Simplify (+ 0 0) into 0 28.305 * [backup-simplify]: Simplify (+ 0) into 0 28.305 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.306 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.306 * [backup-simplify]: Simplify (- 0) into 0 28.306 * [backup-simplify]: Simplify (+ 0 0) into 0 28.307 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 28.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.307 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 28.308 * [backup-simplify]: Simplify (+ 0) into 0 28.308 * [backup-simplify]: Simplify (+ 0) into 0 28.308 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.309 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.309 * [backup-simplify]: Simplify (+ 0 0) into 0 28.309 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.309 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 28.310 * [backup-simplify]: Simplify (+ 0) into 0 28.310 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.311 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.311 * [backup-simplify]: Simplify (+ 0 0) into 0 28.311 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 28.311 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 28.311 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 28.311 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 28.311 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 28.311 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.311 * [taylor]: Taking taylor expansion of phi1 in phi1 28.311 * [backup-simplify]: Simplify 0 into 0 28.311 * [backup-simplify]: Simplify 1 into 1 28.311 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 28.311 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.311 * [taylor]: Taking taylor expansion of phi1 in phi1 28.311 * [backup-simplify]: Simplify 0 into 0 28.312 * [backup-simplify]: Simplify 1 into 1 28.312 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.312 * [taylor]: Taking taylor expansion of theta in phi1 28.312 * [backup-simplify]: Simplify theta into theta 28.312 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.312 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.312 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.312 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.312 * [backup-simplify]: Simplify (- 0) into 0 28.312 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.312 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 28.312 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 28.312 * [backup-simplify]: Simplify (- 0) into 0 28.312 * [taylor]: Taking taylor expansion of 0 in theta 28.312 * [backup-simplify]: Simplify 0 into 0 28.312 * [backup-simplify]: Simplify 0 into 0 28.313 * [backup-simplify]: Simplify (+ 0 0) into 0 28.313 * [taylor]: Taking taylor expansion of 0 in theta 28.313 * [backup-simplify]: Simplify 0 into 0 28.313 * [backup-simplify]: Simplify 0 into 0 28.313 * [backup-simplify]: Simplify 0 into 0 28.313 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.314 * [backup-simplify]: Simplify (+ (* 1 -1/2) (+ (* 0 0) (* 0 1))) into -1/2 28.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.315 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.315 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.316 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.316 * [backup-simplify]: Simplify (- 0) into 0 28.316 * [backup-simplify]: Simplify (+ 0 0) into 0 28.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.317 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.318 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.318 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.318 * [backup-simplify]: Simplify (- 0) into 0 28.318 * [backup-simplify]: Simplify (+ 0 0) into 0 28.319 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 28.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.320 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 28.320 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.322 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.323 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.324 * [backup-simplify]: Simplify (+ 0 0) into 0 28.324 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.325 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 28.326 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.326 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.327 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.328 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.328 * [backup-simplify]: Simplify (+ 0 0) into 0 28.328 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 28.329 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 28.329 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 28.329 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 28.329 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 28.329 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.329 * [backup-simplify]: Simplify 1/2 into 1/2 28.329 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.329 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.329 * [taylor]: Taking taylor expansion of phi1 in phi1 28.329 * [backup-simplify]: Simplify 0 into 0 28.329 * [backup-simplify]: Simplify 1 into 1 28.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.330 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.330 * [backup-simplify]: Simplify 1/2 into 1/2 28.330 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.331 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 28.331 * [taylor]: Taking taylor expansion of -1/2 in theta 28.331 * [backup-simplify]: Simplify -1/2 into -1/2 28.331 * [backup-simplify]: Simplify -1/2 into -1/2 28.331 * [backup-simplify]: Simplify (+ 0) into 0 28.332 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.333 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.333 * [backup-simplify]: Simplify (- 0) into 0 28.334 * [backup-simplify]: Simplify (+ 0 0) into 0 28.334 * [backup-simplify]: Simplify (+ 0) into 0 28.335 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 28.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.336 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 28.336 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 28.336 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 28.336 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.336 * [taylor]: Taking taylor expansion of theta in theta 28.336 * [backup-simplify]: Simplify 0 into 0 28.336 * [backup-simplify]: Simplify 1 into 1 28.336 * [backup-simplify]: Simplify (- 1) into -1 28.336 * [backup-simplify]: Simplify -1 into -1 28.337 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 28.337 * [backup-simplify]: Simplify (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (sin (asin (fma (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))))))) into (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.337 * [approximate]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in (delta phi1 theta) around 0 28.338 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in theta 28.338 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.338 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in theta 28.338 * [taylor]: Taking taylor expansion of 1 in theta 28.338 * [backup-simplify]: Simplify 1 into 1 28.338 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.338 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.338 * [taylor]: Taking taylor expansion of delta in theta 28.338 * [backup-simplify]: Simplify delta into delta 28.338 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.338 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.338 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.338 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in theta 28.338 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in theta 28.338 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.338 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.338 * [taylor]: Taking taylor expansion of phi1 in theta 28.338 * [backup-simplify]: Simplify phi1 into phi1 28.339 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.339 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.339 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.339 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 28.339 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.339 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 28.339 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.339 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.339 * [taylor]: Taking taylor expansion of delta in theta 28.339 * [backup-simplify]: Simplify delta into delta 28.339 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.339 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.339 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.339 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 28.339 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.339 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.339 * [taylor]: Taking taylor expansion of theta in theta 28.339 * [backup-simplify]: Simplify 0 into 0 28.339 * [backup-simplify]: Simplify 1 into 1 28.340 * [backup-simplify]: Simplify (/ 1 1) into 1 28.340 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.340 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.340 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.340 * [taylor]: Taking taylor expansion of phi1 in theta 28.340 * [backup-simplify]: Simplify phi1 into phi1 28.340 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.340 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.340 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.340 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 28.340 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.340 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.340 * [taylor]: Taking taylor expansion of delta in theta 28.340 * [backup-simplify]: Simplify delta into delta 28.340 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.340 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.341 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.341 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.341 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.341 * [taylor]: Taking taylor expansion of phi1 in theta 28.341 * [backup-simplify]: Simplify phi1 into phi1 28.341 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.341 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.341 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.341 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in phi1 28.341 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.341 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in phi1 28.341 * [taylor]: Taking taylor expansion of 1 in phi1 28.341 * [backup-simplify]: Simplify 1 into 1 28.341 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.341 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.341 * [taylor]: Taking taylor expansion of delta in phi1 28.341 * [backup-simplify]: Simplify delta into delta 28.341 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.341 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.341 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.341 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in phi1 28.341 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 28.341 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.342 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.342 * [taylor]: Taking taylor expansion of phi1 in phi1 28.342 * [backup-simplify]: Simplify 0 into 0 28.342 * [backup-simplify]: Simplify 1 into 1 28.342 * [backup-simplify]: Simplify (/ 1 1) into 1 28.342 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.342 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in phi1 28.342 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.342 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 28.342 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.342 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.342 * [taylor]: Taking taylor expansion of delta in phi1 28.342 * [backup-simplify]: Simplify delta into delta 28.342 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.342 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.343 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.343 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 28.343 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.343 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.343 * [taylor]: Taking taylor expansion of theta in phi1 28.343 * [backup-simplify]: Simplify theta into theta 28.343 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.343 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.343 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.343 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.343 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.343 * [taylor]: Taking taylor expansion of phi1 in phi1 28.343 * [backup-simplify]: Simplify 0 into 0 28.343 * [backup-simplify]: Simplify 1 into 1 28.343 * [backup-simplify]: Simplify (/ 1 1) into 1 28.344 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.344 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 28.344 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.344 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.344 * [taylor]: Taking taylor expansion of delta in phi1 28.344 * [backup-simplify]: Simplify delta into delta 28.344 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.344 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.344 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.344 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.344 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.344 * [taylor]: Taking taylor expansion of phi1 in phi1 28.344 * [backup-simplify]: Simplify 0 into 0 28.344 * [backup-simplify]: Simplify 1 into 1 28.344 * [backup-simplify]: Simplify (/ 1 1) into 1 28.344 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.345 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 28.345 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.345 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 28.345 * [taylor]: Taking taylor expansion of 1 in delta 28.345 * [backup-simplify]: Simplify 1 into 1 28.345 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.345 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.345 * [taylor]: Taking taylor expansion of delta in delta 28.345 * [backup-simplify]: Simplify 0 into 0 28.345 * [backup-simplify]: Simplify 1 into 1 28.345 * [backup-simplify]: Simplify (/ 1 1) into 1 28.345 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.345 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 28.345 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 28.345 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.345 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.345 * [taylor]: Taking taylor expansion of phi1 in delta 28.345 * [backup-simplify]: Simplify phi1 into phi1 28.346 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.346 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.346 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.346 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 28.346 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.346 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 28.346 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.346 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.346 * [taylor]: Taking taylor expansion of delta in delta 28.346 * [backup-simplify]: Simplify 0 into 0 28.346 * [backup-simplify]: Simplify 1 into 1 28.346 * [backup-simplify]: Simplify (/ 1 1) into 1 28.346 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.346 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 28.347 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.347 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.347 * [taylor]: Taking taylor expansion of theta in delta 28.347 * [backup-simplify]: Simplify theta into theta 28.347 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.347 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.347 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.347 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.347 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.347 * [taylor]: Taking taylor expansion of phi1 in delta 28.347 * [backup-simplify]: Simplify phi1 into phi1 28.347 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.347 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.347 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.347 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 28.347 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.347 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.347 * [taylor]: Taking taylor expansion of delta in delta 28.347 * [backup-simplify]: Simplify 0 into 0 28.347 * [backup-simplify]: Simplify 1 into 1 28.348 * [backup-simplify]: Simplify (/ 1 1) into 1 28.348 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.348 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.348 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.348 * [taylor]: Taking taylor expansion of phi1 in delta 28.348 * [backup-simplify]: Simplify phi1 into phi1 28.348 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.348 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.348 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.348 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ 1 delta)) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) in delta 28.348 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ 1 delta))) (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) 28.348 * [taylor]: Taking taylor expansion of (* 1 (cos (/ 1 delta))) in delta 28.348 * [taylor]: Taking taylor expansion of 1 in delta 28.348 * [backup-simplify]: Simplify 1 into 1 28.348 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.348 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.348 * [taylor]: Taking taylor expansion of delta in delta 28.348 * [backup-simplify]: Simplify 0 into 0 28.348 * [backup-simplify]: Simplify 1 into 1 28.349 * [backup-simplify]: Simplify (/ 1 1) into 1 28.349 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.349 * [taylor]: Taking taylor expansion of (- (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))) in delta 28.349 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in delta 28.349 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.349 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.349 * [taylor]: Taking taylor expansion of phi1 in delta 28.349 * [backup-simplify]: Simplify phi1 into phi1 28.349 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.349 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.349 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.349 * [taylor]: Taking taylor expansion of (fma (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in delta 28.349 * [taylor]: Rewrote expression to (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 28.349 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 28.349 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.349 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.349 * [taylor]: Taking taylor expansion of delta in delta 28.349 * [backup-simplify]: Simplify 0 into 0 28.349 * [backup-simplify]: Simplify 1 into 1 28.349 * [backup-simplify]: Simplify (/ 1 1) into 1 28.349 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.349 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 28.349 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.349 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.349 * [taylor]: Taking taylor expansion of theta in delta 28.349 * [backup-simplify]: Simplify theta into theta 28.350 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.350 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.350 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.350 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.350 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.350 * [taylor]: Taking taylor expansion of phi1 in delta 28.350 * [backup-simplify]: Simplify phi1 into phi1 28.350 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.350 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.350 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.350 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 28.350 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.350 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.350 * [taylor]: Taking taylor expansion of delta in delta 28.350 * [backup-simplify]: Simplify 0 into 0 28.350 * [backup-simplify]: Simplify 1 into 1 28.350 * [backup-simplify]: Simplify (/ 1 1) into 1 28.350 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.350 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.350 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.350 * [taylor]: Taking taylor expansion of phi1 in delta 28.350 * [backup-simplify]: Simplify phi1 into phi1 28.350 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.350 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.350 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.350 * [backup-simplify]: Simplify (* 1 (cos (/ 1 delta))) into (cos (/ 1 delta)) 28.350 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.351 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.351 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.351 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.351 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.351 * [backup-simplify]: Simplify (- 0) into 0 28.351 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.351 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.351 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.351 * [backup-simplify]: Simplify (- 0) into 0 28.351 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.351 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 28.352 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.352 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.352 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.352 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.352 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 28.352 * [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))))) 28.352 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 28.352 * [backup-simplify]: Simplify (- (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.353 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.353 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) in phi1 28.353 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.353 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.353 * [taylor]: Taking taylor expansion of delta in phi1 28.353 * [backup-simplify]: Simplify delta into delta 28.353 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.353 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.353 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.353 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) in phi1 28.353 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 28.353 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 28.353 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.353 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.353 * [taylor]: Taking taylor expansion of phi1 in phi1 28.353 * [backup-simplify]: Simplify 0 into 0 28.353 * [backup-simplify]: Simplify 1 into 1 28.353 * [backup-simplify]: Simplify (/ 1 1) into 1 28.354 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.354 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.354 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.354 * [taylor]: Taking taylor expansion of delta in phi1 28.354 * [backup-simplify]: Simplify delta into delta 28.354 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.354 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.354 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.354 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 28.354 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.354 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.354 * [taylor]: Taking taylor expansion of phi1 in phi1 28.354 * [backup-simplify]: Simplify 0 into 0 28.354 * [backup-simplify]: Simplify 1 into 1 28.354 * [backup-simplify]: Simplify (/ 1 1) into 1 28.354 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.354 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.354 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.354 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.354 * [taylor]: Taking taylor expansion of phi1 in phi1 28.354 * [backup-simplify]: Simplify 0 into 0 28.354 * [backup-simplify]: Simplify 1 into 1 28.354 * [backup-simplify]: Simplify (/ 1 1) into 1 28.354 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.355 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.355 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.355 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.355 * [taylor]: Taking taylor expansion of theta in phi1 28.355 * [backup-simplify]: Simplify theta into theta 28.355 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.355 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.355 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.355 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.355 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.355 * [taylor]: Taking taylor expansion of delta in phi1 28.355 * [backup-simplify]: Simplify delta into delta 28.355 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.355 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.355 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.355 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.355 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.355 * [backup-simplify]: Simplify (- 0) into 0 28.355 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.355 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.355 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.355 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.356 * [backup-simplify]: Simplify (- 0) into 0 28.356 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.356 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 28.356 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.356 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.356 * [backup-simplify]: Simplify (- 0) into 0 28.356 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.356 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.356 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.356 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.357 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 28.357 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 28.357 * [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))))) 28.357 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 28.357 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 28.358 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 28.358 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 28.358 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.358 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.358 * [taylor]: Taking taylor expansion of delta in theta 28.358 * [backup-simplify]: Simplify delta into delta 28.358 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.358 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.358 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.358 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 28.358 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 28.358 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.358 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.358 * [taylor]: Taking taylor expansion of phi1 in theta 28.358 * [backup-simplify]: Simplify phi1 into phi1 28.358 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.358 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.358 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.358 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 28.358 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.358 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.358 * [taylor]: Taking taylor expansion of delta in theta 28.358 * [backup-simplify]: Simplify delta into delta 28.358 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.358 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.358 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.358 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 28.358 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.358 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.358 * [taylor]: Taking taylor expansion of theta in theta 28.358 * [backup-simplify]: Simplify 0 into 0 28.358 * [backup-simplify]: Simplify 1 into 1 28.359 * [backup-simplify]: Simplify (/ 1 1) into 1 28.359 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.359 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.359 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.359 * [taylor]: Taking taylor expansion of phi1 in theta 28.359 * [backup-simplify]: Simplify phi1 into phi1 28.359 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.359 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.359 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.359 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 28.359 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 28.359 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.359 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.359 * [taylor]: Taking taylor expansion of phi1 in theta 28.359 * [backup-simplify]: Simplify phi1 into phi1 28.359 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.359 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.359 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.359 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.359 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.359 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.359 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.359 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.359 * [taylor]: Taking taylor expansion of delta in theta 28.359 * [backup-simplify]: Simplify delta into delta 28.359 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.359 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.359 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.360 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.360 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.360 * [backup-simplify]: Simplify (- 0) into 0 28.360 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.360 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.360 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.360 * [backup-simplify]: Simplify (- 0) into 0 28.360 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.360 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.360 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.361 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.361 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.361 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.361 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.361 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 28.361 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.361 * [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))))) 28.361 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.361 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.361 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.361 * [backup-simplify]: Simplify (- 0) into 0 28.361 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.362 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 28.362 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 28.362 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.363 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.363 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (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))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 28.363 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ 1 delta)))) into 0 28.364 * [backup-simplify]: Simplify (+ 0) into 0 28.364 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.364 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.365 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.365 * [backup-simplify]: Simplify (- 0) into 0 28.365 * [backup-simplify]: Simplify (+ 0 0) into 0 28.365 * [backup-simplify]: Simplify (+ 0) into 0 28.366 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.366 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.367 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.367 * [backup-simplify]: Simplify (- 0) into 0 28.367 * [backup-simplify]: Simplify (+ 0 0) into 0 28.367 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.367 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 28.368 * [backup-simplify]: Simplify (+ 0) into 0 28.368 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.368 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.369 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.369 * [backup-simplify]: Simplify (+ 0 0) into 0 28.369 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.369 * [backup-simplify]: Simplify (+ 0 0) into 0 28.370 * [backup-simplify]: Simplify (+ 0) into 0 28.370 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.371 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.371 * [backup-simplify]: Simplify (+ 0 0) into 0 28.371 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into 0 28.371 * [backup-simplify]: Simplify (- 0) into 0 28.372 * [backup-simplify]: Simplify (+ 0 0) into 0 28.372 * [taylor]: Taking taylor expansion of 0 in phi1 28.372 * [backup-simplify]: Simplify 0 into 0 28.372 * [taylor]: Taking taylor expansion of 0 in theta 28.372 * [backup-simplify]: Simplify 0 into 0 28.372 * [backup-simplify]: Simplify 0 into 0 28.372 * [backup-simplify]: Simplify (+ 0) into 0 28.372 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.372 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.373 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.373 * [backup-simplify]: Simplify (- 0) into 0 28.374 * [backup-simplify]: Simplify (+ 0 0) into 0 28.374 * [backup-simplify]: Simplify (+ 0) into 0 28.374 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.374 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.375 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.375 * [backup-simplify]: Simplify (- 0) into 0 28.375 * [backup-simplify]: Simplify (+ 0 0) into 0 28.376 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.376 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 28.376 * [backup-simplify]: Simplify (+ 0) into 0 28.376 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.376 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.377 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.377 * [backup-simplify]: Simplify (+ 0 0) into 0 28.378 * [backup-simplify]: Simplify (+ 0) into 0 28.378 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.378 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.379 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.379 * [backup-simplify]: Simplify (- 0) into 0 28.379 * [backup-simplify]: Simplify (+ 0 0) into 0 28.379 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.379 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.380 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 28.380 * [backup-simplify]: Simplify (+ 0 0) into 0 28.380 * [backup-simplify]: Simplify (- 0) into 0 28.380 * [backup-simplify]: Simplify (+ 0 0) into 0 28.380 * [taylor]: Taking taylor expansion of 0 in theta 28.380 * [backup-simplify]: Simplify 0 into 0 28.380 * [backup-simplify]: Simplify 0 into 0 28.381 * [backup-simplify]: Simplify (+ 0) into 0 28.381 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.381 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.382 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.382 * [backup-simplify]: Simplify (- 0) into 0 28.382 * [backup-simplify]: Simplify (+ 0 0) into 0 28.383 * [backup-simplify]: Simplify (+ 0) into 0 28.383 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.384 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.384 * [backup-simplify]: Simplify (+ 0 0) into 0 28.384 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.384 * [backup-simplify]: Simplify (+ 0) into 0 28.385 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.386 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.386 * [backup-simplify]: Simplify (+ 0 0) into 0 28.387 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 28.387 * [backup-simplify]: Simplify (+ 0) into 0 28.388 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.389 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.390 * [backup-simplify]: Simplify (- 0) into 0 28.390 * [backup-simplify]: Simplify (+ 0 0) into 0 28.390 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.391 * [backup-simplify]: Simplify (+ 0) into 0 28.391 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.391 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.392 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.393 * [backup-simplify]: Simplify (- 0) into 0 28.393 * [backup-simplify]: Simplify (+ 0 0) into 0 28.394 * [backup-simplify]: Simplify (+ 0) into 0 28.394 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.394 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.395 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.396 * [backup-simplify]: Simplify (+ 0 0) into 0 28.396 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.396 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 28.397 * [backup-simplify]: Simplify (+ 0 0) into 0 28.397 * [backup-simplify]: Simplify (- 0) into 0 28.397 * [backup-simplify]: Simplify (+ 0 0) into 0 28.397 * [backup-simplify]: Simplify 0 into 0 28.398 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.399 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.400 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.400 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.401 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.401 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.402 * [backup-simplify]: Simplify (- 0) into 0 28.402 * [backup-simplify]: Simplify (+ 0 0) into 0 28.403 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.404 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.404 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.405 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.405 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.406 * [backup-simplify]: Simplify (- 0) into 0 28.406 * [backup-simplify]: Simplify (+ 0 0) into 0 28.407 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.407 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 28.408 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.409 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.410 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.410 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.411 * [backup-simplify]: Simplify (+ 0 0) into 0 28.411 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.411 * [backup-simplify]: Simplify (+ 0 0) into 0 28.412 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.418 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.418 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.419 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.420 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.420 * [backup-simplify]: Simplify (+ 0 0) into 0 28.421 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into 0 28.421 * [backup-simplify]: Simplify (- 0) into 0 28.422 * [backup-simplify]: Simplify (+ 0 0) into 0 28.422 * [taylor]: Taking taylor expansion of 0 in phi1 28.422 * [backup-simplify]: Simplify 0 into 0 28.422 * [taylor]: Taking taylor expansion of 0 in theta 28.422 * [backup-simplify]: Simplify 0 into 0 28.422 * [backup-simplify]: Simplify 0 into 0 28.422 * [taylor]: Taking taylor expansion of 0 in theta 28.422 * [backup-simplify]: Simplify 0 into 0 28.422 * [backup-simplify]: Simplify 0 into 0 28.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.424 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.424 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.425 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.425 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.426 * [backup-simplify]: Simplify (- 0) into 0 28.426 * [backup-simplify]: Simplify (+ 0 0) into 0 28.427 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.428 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.428 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.429 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.429 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.429 * [backup-simplify]: Simplify (- 0) into 0 28.430 * [backup-simplify]: Simplify (+ 0 0) into 0 28.430 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.431 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.432 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.433 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.433 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.434 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.434 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.435 * [backup-simplify]: Simplify (+ 0 0) into 0 28.435 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.436 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.436 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.437 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.438 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.438 * [backup-simplify]: Simplify (- 0) into 0 28.439 * [backup-simplify]: Simplify (+ 0 0) into 0 28.439 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.440 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.441 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 28.441 * [backup-simplify]: Simplify (+ 0 0) into 0 28.442 * [backup-simplify]: Simplify (- 0) into 0 28.442 * [backup-simplify]: Simplify (+ 0 0) into 0 28.442 * [taylor]: Taking taylor expansion of 0 in theta 28.442 * [backup-simplify]: Simplify 0 into 0 28.442 * [backup-simplify]: Simplify 0 into 0 28.443 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2)))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 28.443 * [backup-simplify]: Simplify (fma 1 (cos (/ 1 (- delta))) (- (* (sin (/ 1 (- phi1))) (sin (asin (fma (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta)))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))))))))) into (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.444 * [approximate]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in (delta phi1 theta) around 0 28.444 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in theta 28.444 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.444 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in theta 28.444 * [taylor]: Taking taylor expansion of 1 in theta 28.444 * [backup-simplify]: Simplify 1 into 1 28.444 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.444 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.444 * [taylor]: Taking taylor expansion of -1 in theta 28.444 * [backup-simplify]: Simplify -1 into -1 28.444 * [taylor]: Taking taylor expansion of delta in theta 28.444 * [backup-simplify]: Simplify delta into delta 28.444 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.444 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.444 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.444 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 28.444 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.444 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.444 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.444 * [taylor]: Taking taylor expansion of -1 in theta 28.444 * [backup-simplify]: Simplify -1 into -1 28.444 * [taylor]: Taking taylor expansion of phi1 in theta 28.444 * [backup-simplify]: Simplify phi1 into phi1 28.444 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.445 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.445 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.445 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.445 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.445 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in theta 28.445 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.445 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.445 * [taylor]: Taking taylor expansion of -1 in theta 28.445 * [backup-simplify]: Simplify -1 into -1 28.445 * [taylor]: Taking taylor expansion of delta in theta 28.445 * [backup-simplify]: Simplify delta into delta 28.445 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.445 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.445 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.445 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in theta 28.445 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.445 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.445 * [taylor]: Taking taylor expansion of -1 in theta 28.445 * [backup-simplify]: Simplify -1 into -1 28.445 * [taylor]: Taking taylor expansion of phi1 in theta 28.445 * [backup-simplify]: Simplify phi1 into phi1 28.445 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.445 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.446 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.446 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.446 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.446 * [taylor]: Taking taylor expansion of -1 in theta 28.446 * [backup-simplify]: Simplify -1 into -1 28.446 * [taylor]: Taking taylor expansion of theta in theta 28.446 * [backup-simplify]: Simplify 0 into 0 28.446 * [backup-simplify]: Simplify 1 into 1 28.446 * [backup-simplify]: Simplify (/ -1 1) into -1 28.446 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.446 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.446 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.446 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.446 * [taylor]: Taking taylor expansion of -1 in theta 28.446 * [backup-simplify]: Simplify -1 into -1 28.446 * [taylor]: Taking taylor expansion of phi1 in theta 28.447 * [backup-simplify]: Simplify phi1 into phi1 28.447 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.447 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.447 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.447 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.447 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.447 * [taylor]: Taking taylor expansion of -1 in theta 28.447 * [backup-simplify]: Simplify -1 into -1 28.447 * [taylor]: Taking taylor expansion of delta in theta 28.447 * [backup-simplify]: Simplify delta into delta 28.447 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.447 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.447 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.447 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in phi1 28.447 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.447 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in phi1 28.447 * [taylor]: Taking taylor expansion of 1 in phi1 28.447 * [backup-simplify]: Simplify 1 into 1 28.447 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.447 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.447 * [taylor]: Taking taylor expansion of -1 in phi1 28.447 * [backup-simplify]: Simplify -1 into -1 28.447 * [taylor]: Taking taylor expansion of delta in phi1 28.447 * [backup-simplify]: Simplify delta into delta 28.447 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.448 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.448 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.448 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 28.448 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.448 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.448 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.448 * [taylor]: Taking taylor expansion of -1 in phi1 28.448 * [backup-simplify]: Simplify -1 into -1 28.448 * [taylor]: Taking taylor expansion of phi1 in phi1 28.448 * [backup-simplify]: Simplify 0 into 0 28.448 * [backup-simplify]: Simplify 1 into 1 28.448 * [backup-simplify]: Simplify (/ -1 1) into -1 28.448 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.448 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.448 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.449 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in phi1 28.449 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.449 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.449 * [taylor]: Taking taylor expansion of -1 in phi1 28.449 * [backup-simplify]: Simplify -1 into -1 28.449 * [taylor]: Taking taylor expansion of delta in phi1 28.449 * [backup-simplify]: Simplify delta into delta 28.449 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.449 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.449 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.449 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in phi1 28.449 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.449 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.449 * [taylor]: Taking taylor expansion of -1 in phi1 28.449 * [backup-simplify]: Simplify -1 into -1 28.449 * [taylor]: Taking taylor expansion of phi1 in phi1 28.449 * [backup-simplify]: Simplify 0 into 0 28.449 * [backup-simplify]: Simplify 1 into 1 28.449 * [backup-simplify]: Simplify (/ -1 1) into -1 28.450 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.450 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.450 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.450 * [taylor]: Taking taylor expansion of -1 in phi1 28.450 * [backup-simplify]: Simplify -1 into -1 28.450 * [taylor]: Taking taylor expansion of theta in phi1 28.450 * [backup-simplify]: Simplify theta into theta 28.450 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.450 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.450 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.450 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.450 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.450 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.450 * [taylor]: Taking taylor expansion of -1 in phi1 28.450 * [backup-simplify]: Simplify -1 into -1 28.450 * [taylor]: Taking taylor expansion of phi1 in phi1 28.450 * [backup-simplify]: Simplify 0 into 0 28.450 * [backup-simplify]: Simplify 1 into 1 28.450 * [backup-simplify]: Simplify (/ -1 1) into -1 28.450 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.451 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.451 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.451 * [taylor]: Taking taylor expansion of -1 in phi1 28.451 * [backup-simplify]: Simplify -1 into -1 28.451 * [taylor]: Taking taylor expansion of delta in phi1 28.451 * [backup-simplify]: Simplify delta into delta 28.451 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.451 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.451 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.451 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 28.451 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.451 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 28.451 * [taylor]: Taking taylor expansion of 1 in delta 28.451 * [backup-simplify]: Simplify 1 into 1 28.451 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.451 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.451 * [taylor]: Taking taylor expansion of -1 in delta 28.451 * [backup-simplify]: Simplify -1 into -1 28.451 * [taylor]: Taking taylor expansion of delta in delta 28.451 * [backup-simplify]: Simplify 0 into 0 28.451 * [backup-simplify]: Simplify 1 into 1 28.452 * [backup-simplify]: Simplify (/ -1 1) into -1 28.452 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.452 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 28.452 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.452 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.452 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.452 * [taylor]: Taking taylor expansion of -1 in delta 28.452 * [backup-simplify]: Simplify -1 into -1 28.452 * [taylor]: Taking taylor expansion of phi1 in delta 28.452 * [backup-simplify]: Simplify phi1 into phi1 28.452 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.452 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.452 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.452 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.452 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.452 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 28.452 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.452 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.452 * [taylor]: Taking taylor expansion of -1 in delta 28.452 * [backup-simplify]: Simplify -1 into -1 28.452 * [taylor]: Taking taylor expansion of delta in delta 28.452 * [backup-simplify]: Simplify 0 into 0 28.452 * [backup-simplify]: Simplify 1 into 1 28.453 * [backup-simplify]: Simplify (/ -1 1) into -1 28.453 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.453 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 28.453 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.453 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.453 * [taylor]: Taking taylor expansion of -1 in delta 28.453 * [backup-simplify]: Simplify -1 into -1 28.453 * [taylor]: Taking taylor expansion of phi1 in delta 28.453 * [backup-simplify]: Simplify phi1 into phi1 28.453 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.453 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.453 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.453 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.453 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.453 * [taylor]: Taking taylor expansion of -1 in delta 28.453 * [backup-simplify]: Simplify -1 into -1 28.453 * [taylor]: Taking taylor expansion of theta in delta 28.453 * [backup-simplify]: Simplify theta into theta 28.453 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.453 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.453 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.453 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.453 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.453 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.454 * [taylor]: Taking taylor expansion of -1 in delta 28.454 * [backup-simplify]: Simplify -1 into -1 28.454 * [taylor]: Taking taylor expansion of phi1 in delta 28.454 * [backup-simplify]: Simplify phi1 into phi1 28.454 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.454 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.454 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.454 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.454 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.454 * [taylor]: Taking taylor expansion of -1 in delta 28.454 * [backup-simplify]: Simplify -1 into -1 28.454 * [taylor]: Taking taylor expansion of delta in delta 28.454 * [backup-simplify]: Simplify 0 into 0 28.454 * [backup-simplify]: Simplify 1 into 1 28.454 * [backup-simplify]: Simplify (/ -1 1) into -1 28.454 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.454 * [taylor]: Taking taylor expansion of (fma 1 (cos (/ -1 delta)) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) in delta 28.455 * [taylor]: Rewrote expression to (+ (* 1 (cos (/ -1 delta))) (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) 28.455 * [taylor]: Taking taylor expansion of (* 1 (cos (/ -1 delta))) in delta 28.455 * [taylor]: Taking taylor expansion of 1 in delta 28.455 * [backup-simplify]: Simplify 1 into 1 28.455 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.455 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.455 * [taylor]: Taking taylor expansion of -1 in delta 28.455 * [backup-simplify]: Simplify -1 into -1 28.455 * [taylor]: Taking taylor expansion of delta in delta 28.455 * [backup-simplify]: Simplify 0 into 0 28.455 * [backup-simplify]: Simplify 1 into 1 28.455 * [backup-simplify]: Simplify (/ -1 1) into -1 28.455 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.455 * [taylor]: Taking taylor expansion of (- (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 28.455 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.455 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.455 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.455 * [taylor]: Taking taylor expansion of -1 in delta 28.455 * [backup-simplify]: Simplify -1 into -1 28.455 * [taylor]: Taking taylor expansion of phi1 in delta 28.455 * [backup-simplify]: Simplify phi1 into phi1 28.455 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.456 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.456 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.456 * [taylor]: Taking taylor expansion of (fma (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.456 * [taylor]: Rewrote expression to (+ (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.456 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) in delta 28.456 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.456 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.456 * [taylor]: Taking taylor expansion of -1 in delta 28.456 * [backup-simplify]: Simplify -1 into -1 28.456 * [taylor]: Taking taylor expansion of delta in delta 28.456 * [backup-simplify]: Simplify 0 into 0 28.456 * [backup-simplify]: Simplify 1 into 1 28.456 * [backup-simplify]: Simplify (/ -1 1) into -1 28.456 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.456 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (cos (/ -1 theta))) in delta 28.456 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.457 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.457 * [taylor]: Taking taylor expansion of -1 in delta 28.457 * [backup-simplify]: Simplify -1 into -1 28.457 * [taylor]: Taking taylor expansion of phi1 in delta 28.457 * [backup-simplify]: Simplify phi1 into phi1 28.457 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.457 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.457 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.457 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.457 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.457 * [taylor]: Taking taylor expansion of -1 in delta 28.457 * [backup-simplify]: Simplify -1 into -1 28.457 * [taylor]: Taking taylor expansion of theta in delta 28.457 * [backup-simplify]: Simplify theta into theta 28.457 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.457 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.457 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.457 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.457 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.457 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.457 * [taylor]: Taking taylor expansion of -1 in delta 28.457 * [backup-simplify]: Simplify -1 into -1 28.457 * [taylor]: Taking taylor expansion of phi1 in delta 28.457 * [backup-simplify]: Simplify phi1 into phi1 28.457 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.457 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.457 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.457 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.458 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.458 * [taylor]: Taking taylor expansion of -1 in delta 28.458 * [backup-simplify]: Simplify -1 into -1 28.458 * [taylor]: Taking taylor expansion of delta in delta 28.458 * [backup-simplify]: Simplify 0 into 0 28.458 * [backup-simplify]: Simplify 1 into 1 28.458 * [backup-simplify]: Simplify (/ -1 1) into -1 28.458 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.458 * [backup-simplify]: Simplify (* 1 (cos (/ -1 delta))) into (cos (/ -1 delta)) 28.458 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.459 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.459 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.459 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.459 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.459 * [backup-simplify]: Simplify (- 0) into 0 28.459 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.459 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.459 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.460 * [backup-simplify]: Simplify (- 0) into 0 28.460 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.460 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (cos (/ -1 theta))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 28.460 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 28.460 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.460 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.460 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.461 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.461 * [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))))) 28.461 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 28.462 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.462 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.462 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 28.462 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.462 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.462 * [taylor]: Taking taylor expansion of -1 in phi1 28.462 * [backup-simplify]: Simplify -1 into -1 28.463 * [taylor]: Taking taylor expansion of delta in phi1 28.463 * [backup-simplify]: Simplify delta into delta 28.463 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.463 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.463 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.463 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 28.463 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 28.463 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 28.463 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.463 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.463 * [taylor]: Taking taylor expansion of -1 in phi1 28.463 * [backup-simplify]: Simplify -1 into -1 28.463 * [taylor]: Taking taylor expansion of phi1 in phi1 28.463 * [backup-simplify]: Simplify 0 into 0 28.463 * [backup-simplify]: Simplify 1 into 1 28.464 * [backup-simplify]: Simplify (/ -1 1) into -1 28.464 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.464 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.464 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.464 * [taylor]: Taking taylor expansion of -1 in phi1 28.464 * [backup-simplify]: Simplify -1 into -1 28.464 * [taylor]: Taking taylor expansion of delta in phi1 28.464 * [backup-simplify]: Simplify delta into delta 28.464 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.464 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.464 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.464 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 28.464 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.464 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.464 * [taylor]: Taking taylor expansion of -1 in phi1 28.464 * [backup-simplify]: Simplify -1 into -1 28.464 * [taylor]: Taking taylor expansion of phi1 in phi1 28.464 * [backup-simplify]: Simplify 0 into 0 28.464 * [backup-simplify]: Simplify 1 into 1 28.465 * [backup-simplify]: Simplify (/ -1 1) into -1 28.465 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.465 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 28.465 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.465 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.465 * [taylor]: Taking taylor expansion of -1 in phi1 28.465 * [backup-simplify]: Simplify -1 into -1 28.465 * [taylor]: Taking taylor expansion of delta in phi1 28.465 * [backup-simplify]: Simplify delta into delta 28.465 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.465 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.465 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.465 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 28.465 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.465 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.465 * [taylor]: Taking taylor expansion of -1 in phi1 28.465 * [backup-simplify]: Simplify -1 into -1 28.465 * [taylor]: Taking taylor expansion of theta in phi1 28.465 * [backup-simplify]: Simplify theta into theta 28.465 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.465 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.465 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.465 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.465 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.465 * [taylor]: Taking taylor expansion of -1 in phi1 28.465 * [backup-simplify]: Simplify -1 into -1 28.465 * [taylor]: Taking taylor expansion of phi1 in phi1 28.465 * [backup-simplify]: Simplify 0 into 0 28.465 * [backup-simplify]: Simplify 1 into 1 28.466 * [backup-simplify]: Simplify (/ -1 1) into -1 28.466 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.466 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.466 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.466 * [backup-simplify]: Simplify (- 0) into 0 28.466 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.467 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.467 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.467 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.467 * [backup-simplify]: Simplify (- 0) into 0 28.467 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.467 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.467 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.468 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.468 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.468 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.468 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.468 * [backup-simplify]: Simplify (- 0) into 0 28.468 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.468 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 28.468 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 28.469 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 28.469 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 28.470 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.470 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.470 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 28.470 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.470 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.470 * [taylor]: Taking taylor expansion of -1 in theta 28.470 * [backup-simplify]: Simplify -1 into -1 28.470 * [taylor]: Taking taylor expansion of delta in theta 28.470 * [backup-simplify]: Simplify delta into delta 28.471 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.471 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.471 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.471 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 28.471 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 28.471 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 28.471 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.471 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.471 * [taylor]: Taking taylor expansion of -1 in theta 28.471 * [backup-simplify]: Simplify -1 into -1 28.471 * [taylor]: Taking taylor expansion of phi1 in theta 28.471 * [backup-simplify]: Simplify phi1 into phi1 28.471 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.471 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.471 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.471 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.471 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.471 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.471 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.471 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.471 * [taylor]: Taking taylor expansion of -1 in theta 28.471 * [backup-simplify]: Simplify -1 into -1 28.471 * [taylor]: Taking taylor expansion of delta in theta 28.471 * [backup-simplify]: Simplify delta into delta 28.471 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.471 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.472 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.472 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 28.472 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.472 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.472 * [taylor]: Taking taylor expansion of -1 in theta 28.472 * [backup-simplify]: Simplify -1 into -1 28.472 * [taylor]: Taking taylor expansion of phi1 in theta 28.472 * [backup-simplify]: Simplify phi1 into phi1 28.472 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.472 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.472 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.472 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 28.472 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.472 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.472 * [taylor]: Taking taylor expansion of -1 in theta 28.472 * [backup-simplify]: Simplify -1 into -1 28.472 * [taylor]: Taking taylor expansion of delta in theta 28.472 * [backup-simplify]: Simplify delta into delta 28.472 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.472 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.472 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.472 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 28.472 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.472 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.472 * [taylor]: Taking taylor expansion of -1 in theta 28.472 * [backup-simplify]: Simplify -1 into -1 28.472 * [taylor]: Taking taylor expansion of theta in theta 28.472 * [backup-simplify]: Simplify 0 into 0 28.472 * [backup-simplify]: Simplify 1 into 1 28.473 * [backup-simplify]: Simplify (/ -1 1) into -1 28.473 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.473 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.473 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.473 * [taylor]: Taking taylor expansion of -1 in theta 28.473 * [backup-simplify]: Simplify -1 into -1 28.473 * [taylor]: Taking taylor expansion of phi1 in theta 28.473 * [backup-simplify]: Simplify phi1 into phi1 28.473 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.473 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.473 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.473 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.474 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.474 * [backup-simplify]: Simplify (- 0) into 0 28.474 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.474 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.474 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.474 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.475 * [backup-simplify]: Simplify (- 0) into 0 28.475 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.475 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.475 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.475 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.475 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.475 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.475 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.475 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.475 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.476 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.476 * [backup-simplify]: Simplify (- 0) into 0 28.476 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.476 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 28.476 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 28.477 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 28.477 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 28.478 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.478 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.479 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 28.480 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (/ -1 delta)))) into 0 28.480 * [backup-simplify]: Simplify (+ 0) into 0 28.481 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.481 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.482 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.483 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.483 * [backup-simplify]: Simplify (- 0) into 0 28.484 * [backup-simplify]: Simplify (+ 0 0) into 0 28.484 * [backup-simplify]: Simplify (+ 0) into 0 28.485 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.485 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.487 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.487 * [backup-simplify]: Simplify (- 0) into 0 28.487 * [backup-simplify]: Simplify (+ 0 0) into 0 28.487 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (cos (/ -1 theta)))) into 0 28.488 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 28.488 * [backup-simplify]: Simplify (+ 0) into 0 28.489 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.490 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.490 * [backup-simplify]: Simplify (+ 0 0) into 0 28.490 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.490 * [backup-simplify]: Simplify (+ 0 0) into 0 28.490 * [backup-simplify]: Simplify (+ 0) into 0 28.491 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.492 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.492 * [backup-simplify]: Simplify (+ 0 0) into 0 28.492 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 28.492 * [backup-simplify]: Simplify (- 0) into 0 28.493 * [backup-simplify]: Simplify (+ 0 0) into 0 28.493 * [taylor]: Taking taylor expansion of 0 in phi1 28.493 * [backup-simplify]: Simplify 0 into 0 28.493 * [taylor]: Taking taylor expansion of 0 in theta 28.493 * [backup-simplify]: Simplify 0 into 0 28.493 * [backup-simplify]: Simplify 0 into 0 28.493 * [backup-simplify]: Simplify (+ 0) into 0 28.493 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.493 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.494 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.495 * [backup-simplify]: Simplify (- 0) into 0 28.495 * [backup-simplify]: Simplify (+ 0 0) into 0 28.495 * [backup-simplify]: Simplify (+ 0) into 0 28.496 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.496 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.497 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.497 * [backup-simplify]: Simplify (- 0) into 0 28.498 * [backup-simplify]: Simplify (+ 0 0) into 0 28.498 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.498 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.499 * [backup-simplify]: Simplify (+ 0) into 0 28.499 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.499 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.500 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.501 * [backup-simplify]: Simplify (- 0) into 0 28.501 * [backup-simplify]: Simplify (+ 0 0) into 0 28.501 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.502 * [backup-simplify]: Simplify (+ 0) into 0 28.502 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.502 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.503 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.504 * [backup-simplify]: Simplify (+ 0 0) into 0 28.504 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 28.504 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.505 * [backup-simplify]: Simplify (+ 0 0) into 0 28.505 * [backup-simplify]: Simplify (- 0) into 0 28.505 * [backup-simplify]: Simplify (+ 0 0) into 0 28.505 * [taylor]: Taking taylor expansion of 0 in theta 28.505 * [backup-simplify]: Simplify 0 into 0 28.505 * [backup-simplify]: Simplify 0 into 0 28.506 * [backup-simplify]: Simplify (+ 0) into 0 28.506 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.506 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.508 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.508 * [backup-simplify]: Simplify (- 0) into 0 28.508 * [backup-simplify]: Simplify (+ 0 0) into 0 28.509 * [backup-simplify]: Simplify (+ 0) into 0 28.509 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.509 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.510 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.511 * [backup-simplify]: Simplify (- 0) into 0 28.511 * [backup-simplify]: Simplify (+ 0 0) into 0 28.512 * [backup-simplify]: Simplify (+ 0) into 0 28.512 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.513 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.514 * [backup-simplify]: Simplify (+ 0 0) into 0 28.514 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.514 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.514 * [backup-simplify]: Simplify (+ 0) into 0 28.515 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.516 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.516 * [backup-simplify]: Simplify (- 0) into 0 28.517 * [backup-simplify]: Simplify (+ 0 0) into 0 28.517 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.517 * [backup-simplify]: Simplify (+ 0) into 0 28.517 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.517 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.518 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.518 * [backup-simplify]: Simplify (+ 0 0) into 0 28.519 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 28.519 * [backup-simplify]: Simplify (+ 0) into 0 28.519 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.520 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.520 * [backup-simplify]: Simplify (+ 0 0) into 0 28.520 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.521 * [backup-simplify]: Simplify (+ 0 0) into 0 28.521 * [backup-simplify]: Simplify (- 0) into 0 28.521 * [backup-simplify]: Simplify (+ 0 0) into 0 28.521 * [backup-simplify]: Simplify 0 into 0 28.522 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.522 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.523 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.523 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.523 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.524 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.524 * [backup-simplify]: Simplify (- 0) into 0 28.524 * [backup-simplify]: Simplify (+ 0 0) into 0 28.525 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.525 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.526 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.526 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.526 * [backup-simplify]: Simplify (- 0) into 0 28.526 * [backup-simplify]: Simplify (+ 0 0) into 0 28.527 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 28.527 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 28.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.528 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.529 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.529 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.529 * [backup-simplify]: Simplify (+ 0 0) into 0 28.530 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.530 * [backup-simplify]: Simplify (+ 0 0) into 0 28.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.531 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.532 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.532 * [backup-simplify]: Simplify (+ 0 0) into 0 28.532 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 28.533 * [backup-simplify]: Simplify (- 0) into 0 28.533 * [backup-simplify]: Simplify (+ 0 0) into 0 28.533 * [taylor]: Taking taylor expansion of 0 in phi1 28.533 * [backup-simplify]: Simplify 0 into 0 28.533 * [taylor]: Taking taylor expansion of 0 in theta 28.533 * [backup-simplify]: Simplify 0 into 0 28.533 * [backup-simplify]: Simplify 0 into 0 28.533 * [taylor]: Taking taylor expansion of 0 in theta 28.533 * [backup-simplify]: Simplify 0 into 0 28.533 * [backup-simplify]: Simplify 0 into 0 28.534 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.534 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.534 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.535 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.535 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.535 * [backup-simplify]: Simplify (- 0) into 0 28.536 * [backup-simplify]: Simplify (+ 0 0) into 0 28.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.537 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.537 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.538 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.538 * [backup-simplify]: Simplify (- 0) into 0 28.538 * [backup-simplify]: Simplify (+ 0 0) into 0 28.538 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 28.539 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.540 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.540 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.540 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.541 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.541 * [backup-simplify]: Simplify (- 0) into 0 28.541 * [backup-simplify]: Simplify (+ 0 0) into 0 28.542 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 28.542 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.543 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.543 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.543 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.547 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.547 * [backup-simplify]: Simplify (+ 0 0) into 0 28.548 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 28.548 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 28.548 * [backup-simplify]: Simplify (+ 0 0) into 0 28.549 * [backup-simplify]: Simplify (- 0) into 0 28.549 * [backup-simplify]: Simplify (+ 0 0) into 0 28.549 * [taylor]: Taking taylor expansion of 0 in theta 28.549 * [backup-simplify]: Simplify 0 into 0 28.549 * [backup-simplify]: Simplify 0 into 0 28.549 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 28.549 * * * [progress]: simplifying candidates 28.550 * * * * [progress]: [ 1 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 2 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 3 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 4 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 5 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 6 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 7 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 8 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 9 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 10 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 11 / 65 ] simplifiying candidate #real (real->posit16 (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))))) lambda1))> 28.550 * * * * [progress]: [ 12 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 13 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 14 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 15 / 65 ] simplifiying candidate # 28.550 * * * * [progress]: [ 16 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 17 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 18 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 19 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 20 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 21 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 22 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 23 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 24 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 25 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 26 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 27 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 28 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 29 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 30 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 31 / 65 ] simplifiying candidate #real (real->posit16 (log (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))))) lambda1))> 28.551 * * * * [progress]: [ 32 / 65 ] simplifiying candidate # 28.551 * * * * [progress]: [ 33 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 34 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 35 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 36 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 37 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 38 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 39 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 40 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 41 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 42 / 65 ] simplifiying candidate #real (real->posit16 (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) lambda1))> 28.552 * * * * [progress]: [ 43 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 44 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 45 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 46 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 47 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 48 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 49 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 50 / 65 ] simplifiying candidate # 28.552 * * * * [progress]: [ 51 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 52 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 53 / 65 ] simplifiying candidate #real (real->posit16 (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) lambda1))> 28.553 * * * * [progress]: [ 54 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 55 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 56 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 57 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 58 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 59 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 60 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 61 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 62 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 63 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 64 / 65 ] simplifiying candidate # 28.553 * * * * [progress]: [ 65 / 65 ] simplifiying candidate # 28.554 * [simplify]: Simplifying: (expm1 (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (log1p (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (* (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))) (log (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (exp (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (* (cbrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (cbrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (cbrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (* (* (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (sqrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (sqrt (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (real->posit16 (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (expm1 (log (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) (log1p (log (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) (log (exp (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))))) (log (exp (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (log (* (cbrt (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (cbrt (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))))) (log (cbrt (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) (log (sqrt (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))))) (fma (- (sin phi1)) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta))))))))))) (log (sqrt (exp (+ (cbrt (* (* (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* (cos phi1) (cos theta)) (* (sin phi1) (cos delta)))))))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (sin delta) (* 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(* 1/2 (pow delta 2)))) (- (cos delta) (+ (* (cos phi1) (* (sin delta) (* (cos theta) (sin phi1)))) (* (pow (sin phi1) 2) (cos delta)))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 28.557 * * [simplify]: iteration 1: (103 enodes) 28.575 * * [simplify]: iteration 2: (186 enodes) 28.631 * * [simplify]: iteration 3: (439 enodes) 28.867 * * [simplify]: iteration 4: (1355 enodes) 30.423 * * [simplify]: Extracting #0: cost 26 inf + 0 30.424 * * [simplify]: Extracting #1: cost 170 inf + 337 30.428 * * [simplify]: Extracting #2: cost 445 inf + 1201 30.436 * * [simplify]: Extracting #3: cost 424 inf + 21765 30.456 * * [simplify]: Extracting #4: cost 269 inf + 99193 30.529 * * [simplify]: Extracting #5: cost 66 inf + 253602 30.618 * * [simplify]: Extracting #6: cost 0 inf + 307795 30.723 * * [simplify]: Extracting #7: cost 0 inf + 307794 30.839 * [simplify]: Simplified to: (expm1 0) (log1p 0) (* (- (sin phi1)) (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta)))))) (log 0) 1 (* (cbrt 0) (cbrt 0)) (cbrt 0) 0 (sqrt 0) (sqrt 0) (real->posit16 0) (expm1 (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (log1p (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) 0 (+ (log (cbrt (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))))) (log (cbrt (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))))) (log (cbrt (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))))) (log (sqrt (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))))) (log (sqrt (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))))) 0 (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (* (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))) (sqrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) 1 1 (log (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (* (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))) (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (* (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (* (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))) (sqrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (sqrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (real->posit16 (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (expm1 (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (log1p (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (cos delta) (log (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (* (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))) (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (* (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (* (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))) (sqrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (sqrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (real->posit16 (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (expm1 (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (log1p (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (cos delta) (log (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (exp (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (* (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))) (cbrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (* (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (* (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1))))) (sqrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (sqrt (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) (real->posit16 (- (cos delta) (* (sin (asin (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))))) (sin phi1)))) 0 0 0 (- 1 (* delta (fma delta 1/2 phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))) (sin phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))) (sin phi1))) (- 1 (* delta (fma delta 1/2 phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))) (sin phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))) (sin phi1))) (- 1 (* delta (fma delta 1/2 phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))) (sin phi1))) (- (cos delta) (* (fma (cos delta) (sin phi1) (* (* (cos theta) (cos phi1)) (sin delta))) (sin phi1))) 30.867 * * * [progress]: adding candidates to table 32.820 * [progress]: [Phase 3 of 3] Extracting. 32.820 * * [regime]: Finding splitpoints for: (# # # # # # # # # # # #) 32.846 * * * [regime-changes]: Trying 5 branch expressions: (theta delta phi2 phi1 lambda1) 32.846 * * * * [regimes]: Trying to branch on theta from (# # # # # # # # # # # #) 33.059 * * * * [regimes]: Trying to branch on delta from (# # # # # # # # # # # #) 33.243 * * * * [regimes]: Trying to branch on phi2 from (# # # # # # # # # # # #) 33.450 * * * * [regimes]: Trying to branch on phi1 from (# # # # # # # # # # # #) 33.692 * * * * [regimes]: Trying to branch on lambda1 from (# # # # # # # # # # # #) 33.888 * * * [regime]: Found split indices: #